From e1adf38ae6e60897fde5cf958891c5fcee5e0d27 Mon Sep 17 00:00:00 2001 From: Joaquim Casals <jcasals@iri.upc.edu> Date: Fri, 12 Apr 2019 14:14:48 +0200 Subject: [PATCH] Code reorganization, added folders, moved some files. --- CMakeLists.txt | 262 +++++++++--------- hello_wolf/hello_wolf.cpp | 2 +- hello_wolf/sensor_range_bearing.cpp | 2 +- include/base/IMU_tools.h | 4 +- include/base/capture/capture_base.h | 10 +- include/base/capture/capture_buffer.h | 4 +- include/base/capture/capture_motion.h | 2 +- include/base/capture/capture_odom_2D.h | 2 +- include/base/capture/capture_odom_3D.h | 2 +- .../ceres_wrapper/cost_function_wrapper.h | 2 +- .../local_parametrization_wrapper.h | 4 +- include/base/ceres_wrapper/solver_manager.h | 4 +- include/base/{ => common}/factory.h | 4 +- include/base/{ => common}/node_base.h | 2 +- include/base/{ => common}/time_stamp.h | 2 +- include/base/{ => common}/wolf.h | 2 +- include/base/factor/factor_AHP.h | 2 +- include/base/factor/factor_GPS_2D.h | 4 +- include/base/factor/factor_IMU.h | 2 +- include/base/factor/factor_autodiff.h | 2 +- .../base/factor/factor_autodiff_trifocal.h | 4 +- include/base/factor/factor_base.h | 8 +- include/base/factor/factor_block_absolute.h | 2 +- include/base/factor/factor_container.h | 2 +- include/base/factor/factor_diff_drive.h | 2 +- include/base/factor/factor_fix_bias.h | 4 +- include/base/factor/factor_odom_2D.h | 2 +- include/base/factor/factor_odom_3D.h | 2 +- include/base/factor/factor_pose_2D.h | 4 +- include/base/factor/factor_pose_3D.h | 4 +- .../base/factor/factor_quaternion_absolute.h | 6 +- include/base/feature/feature_IMU.h | 2 +- include/base/feature/feature_base.h | 4 +- include/base/feature/feature_match.h | 2 +- include/base/{ => frame}/frame_base.h | 10 +- include/base/{ => hardware}/hardware_base.h | 4 +- include/base/landmark/landmark_base.h | 10 +- include/base/landmark/landmark_container.h | 2 +- include/base/landmark/landmark_line_2D.h | 2 +- include/base/landmark/landmark_match.h | 2 +- include/base/{ => map}/map_base.h | 4 +- include/base/{ => math}/SE3.h | 4 +- include/base/{ => math}/pinhole_tools.h | 2 +- include/base/{ => math}/rotations.h | 2 +- include/base/{ => problem}/problem.h | 6 +- .../base/{ => processor}/diff_drive_tools.h | 4 +- .../base/{ => processor}/diff_drive_tools.hpp | 0 include/base/{ => processor}/motion_buffer.h | 4 +- include/base/processor/processor_base.h | 8 +- include/base/processor/processor_diff_drive.h | 2 +- include/base/processor/processor_factory.h | 4 +- .../processor_frame_nearest_neighbor_filter.h | 2 +- include/base/processor/processor_logging.h | 2 +- include/base/processor/processor_motion.h | 4 +- include/base/processor/processor_odom_2D.h | 2 +- include/base/processor/processor_odom_3D.h | 2 +- .../processor/processor_tracker_feature.h | 4 +- .../processor_tracker_feature_corner.h | 2 +- .../processor_tracker_feature_dummy.h | 2 +- .../processor_tracker_feature_image.h | 4 +- .../processor_tracker_landmark_corner.h | 2 +- .../processor_tracker_landmark_image.h | 2 +- include/base/{ => processor}/track_matrix.h | 0 include/base/sensor/sensor_GPS.h | 2 +- include/base/sensor/sensor_base.h | 10 +- include/base/sensor/sensor_diff_drive.h | 2 +- include/base/sensor/sensor_factory.h | 2 +- include/base/solver/solver_manager.h | 4 +- .../solver_suitesparse/cost_function_base.h | 2 +- .../solver_suitesparse/cost_function_sparse.h | 2 +- .../cost_function_sparse_base.h | 2 +- include/base/solver_suitesparse/qr_solver.h | 2 +- .../base/solver_suitesparse/solver_manager.h | 4 +- .../local_parametrization_angle.h | 4 +- .../local_parametrization_base.h | 2 +- .../local_parametrization_homogeneous.h | 2 +- .../local_parametrization_polyline_extreme.h | 2 +- .../local_parametrization_quaternion.h | 2 +- include/base/{ => state_block}/state_angle.h | 4 +- include/base/{ => state_block}/state_block.h | 8 +- .../{ => state_block}/state_homogeneous_3D.h | 4 +- .../base/{ => state_block}/state_quaternion.h | 4 +- .../base/{ => trajectory}/trajectory_base.h | 4 +- include/base/{ => utils}/eigen_assert.h | 0 include/base/{ => utils}/eigen_predicates.h | 2 +- include/base/{ => utils}/logging.h | 2 +- include/base/{ => utils}/make_unique.h | 0 include/base/{ => utils}/singleton.h | 0 ...serialization_local_parametrization_base.h | 2 +- src/capture/capture_IMU.cpp | 2 +- src/capture/capture_wheel_joint_position.cpp | 2 +- src/ceres_wrapper/ceres_manager.cpp | 6 +- src/ceres_wrapper/solver_manager.cpp | 4 +- src/{ => common}/node_base.cpp | 2 +- src/{ => common}/time_stamp.cpp | 2 +- src/examples/solver/test_ccolamd.cpp | 2 +- src/examples/solver/test_iQR_wolf2.cpp | 2 +- src/examples/test_2_lasers_offline.cpp | 2 +- src/examples/test_ceres_2_lasers.cpp | 2 +- .../test_ceres_2_lasers_polylines.cpp | 2 +- src/examples/test_diff_drive.cpp | 4 +- src/examples/test_eigen_quaternion.cpp | 2 +- src/examples/test_factor_AHP.cpp | 6 +- src/examples/test_factor_imu.cpp | 8 +- src/examples/test_faramotics_simulation.cpp | 4 +- src/examples/test_imuDock.cpp | 4 +- src/examples/test_imuDock_autoKFs.cpp | 4 +- src/examples/test_imuPlateform_Offline.cpp | 8 +- src/examples/test_imu_constrained0.cpp | 8 +- src/examples/test_map_yaml.cpp | 8 +- src/examples/test_mpu.cpp | 8 +- src/examples/test_processor_imu.cpp | 8 +- src/examples/test_processor_imu_jacobians.cpp | 8 +- src/examples/test_processor_odom_3D.cpp | 4 +- .../test_processor_tracker_feature.cpp | 6 +- .../test_processor_tracker_landmark.cpp | 6 +- .../test_processor_tracker_landmark_image.cpp | 6 +- src/examples/test_projection_points.cpp | 2 +- src/examples/test_simple_AHP.cpp | 8 +- src/examples/test_sort_keyframes.cpp | 8 +- src/examples/test_state_quaternion.cpp | 6 +- src/examples/test_wolf_factories.cpp | 6 +- src/examples/test_wolf_logging.cpp | 4 +- src/examples/test_wolf_root.cpp | 2 +- src/examples/test_yaml.cpp | 4 +- src/factor/factor_analytic.cpp | 2 +- src/factor/factor_base.cpp | 2 +- src/{ => frame}/frame_base.cpp | 12 +- src/{ => hardware}/hardware_base.cpp | 2 +- src/landmark/landmark_AHP.cpp | 4 +- src/landmark/landmark_base.cpp | 4 +- src/landmark/landmark_container.cpp | 2 +- src/landmark/landmark_polyline_2D.cpp | 6 +- src/{ => map}/map_base.cpp | 4 +- src/{ => problem}/problem.cpp | 10 +- src/{ => processor}/motion_buffer.cpp | 2 +- src/processor/processor_base.cpp | 2 +- src/processor/processor_diff_drive.cpp | 2 +- src/processor/processor_tracker_landmark.cpp | 2 +- .../processor_tracker_landmark_corner.cpp | 2 +- .../processor_tracker_landmark_image.cpp | 14 +- src/{ => processor}/track_matrix.cpp | 2 +- src/sensor/sensor_GPS.cpp | 4 +- src/sensor/sensor_GPS_fix.cpp | 4 +- src/sensor/sensor_IMU.cpp | 4 +- src/sensor/sensor_base.cpp | 4 +- src/sensor/sensor_camera.cpp | 6 +- src/sensor/sensor_diff_drive.cpp | 4 +- src/sensor/sensor_laser_2D.cpp | 2 +- src/sensor/sensor_odom_2D.cpp | 4 +- src/sensor/sensor_odom_3D.cpp | 4 +- src/solver/solver_manager.cpp | 4 +- .../local_parametrization_base.cpp | 2 +- .../local_parametrization_homogeneous.cpp | 4 +- ...local_parametrization_polyline_extreme.cpp | 6 +- .../local_parametrization_quaternion.cpp | 4 +- src/{ => state_block}/state_block.cpp | 2 +- src/{ => trajectory}/trajectory_base.cpp | 4 +- src/yaml/processor_IMU_yaml.cpp | 2 +- src/yaml/processor_image_yaml.cpp | 2 +- src/yaml/processor_odom_3D_yaml.cpp | 2 +- ...rocessor_tracker_feature_trifocal_yaml.cpp | 2 +- src/yaml/sensor_IMU_yaml.cpp | 2 +- src/yaml/sensor_camera_yaml.cpp | 2 +- src/yaml/sensor_laser_2D_yaml.cpp | 2 +- src/yaml/sensor_odom_3D_yaml.cpp | 2 +- test/gtest_IMU.cpp | 4 +- test/gtest_SE3.cpp | 2 +- test/gtest_capture_base.cpp | 2 +- test/gtest_ceres_manager.cpp | 10 +- test/gtest_eigen_predicates.cpp | 2 +- test/gtest_factor_IMU.cpp | 2 +- test/gtest_factor_autodiff_distance_3D.cpp | 6 +- test/gtest_factor_autodiff_trifocal.cpp | 2 +- test/gtest_feature_IMU.cpp | 10 +- test/gtest_frame_base.cpp | 6 +- test/gtest_local_param.cpp | 10 +- test/gtest_make_posdef.cpp | 2 +- test/gtest_motion_buffer.cpp | 6 +- test/gtest_odom_2D.cpp | 4 +- test/gtest_odom_3D.cpp | 4 +- test/gtest_pack_KF_buffer.cpp | 2 +- test/gtest_param_prior.cpp | 4 +- test/gtest_pinhole.cpp | 2 +- test/gtest_problem.cpp | 4 +- test/gtest_processor_IMU.cpp | 6 +- test/gtest_processor_IMU_jacobians.cpp | 8 +- test/gtest_processor_base.cpp | 2 +- ...essor_frame_nearest_neighbor_filter_2D.cpp | 2 +- test/gtest_processor_motion.cpp | 4 +- ...est_processor_tracker_feature_trifocal.cpp | 4 +- test/gtest_rotation.cpp | 4 +- test/gtest_shared_from_this.cpp | 2 +- test/gtest_solver_manager.cpp | 10 +- test/gtest_time_stamp.cpp | 2 +- test/gtest_track_matrix.cpp | 2 +- test/gtest_trajectory.cpp | 8 +- test/processor_IMU_UnitTester.h | 4 +- .../gtest_serialization_eigen_geometry.cpp | 2 +- .../gtest_serialization_eigen_sparse.cpp | 2 +- wolf_scripts/include_refactor.sh | 41 ++- 201 files changed, 541 insertions(+), 508 deletions(-) rename include/base/{ => common}/factory.h (99%) rename include/base/{ => common}/node_base.h (99%) rename include/base/{ => common}/time_stamp.h (99%) rename include/base/{ => common}/wolf.h (99%) rename include/base/{ => frame}/frame_base.h (97%) rename include/base/{ => hardware}/hardware_base.h (91%) rename include/base/{ => map}/map_base.h (93%) rename include/base/{ => math}/SE3.h (99%) rename include/base/{ => math}/pinhole_tools.h (99%) rename include/base/{ => math}/rotations.h (99%) rename include/base/{ => problem}/problem.h (99%) rename include/base/{ => processor}/diff_drive_tools.h (99%) rename include/base/{ => processor}/diff_drive_tools.hpp (100%) rename include/base/{ => processor}/motion_buffer.h (98%) rename include/base/{ => processor}/track_matrix.h (100%) rename include/base/{ => state_block}/local_parametrization_angle.h (95%) rename include/base/{ => state_block}/local_parametrization_base.h (97%) rename include/base/{ => state_block}/local_parametrization_homogeneous.h (97%) rename include/base/{ => state_block}/local_parametrization_polyline_extreme.h (95%) rename include/base/{ => state_block}/local_parametrization_quaternion.h (97%) rename include/base/{ => state_block}/state_angle.h (84%) rename include/base/{ => state_block}/state_block.h (98%) rename include/base/{ => state_block}/state_homogeneous_3D.h (91%) rename include/base/{ => state_block}/state_quaternion.h (92%) rename include/base/{ => trajectory}/trajectory_base.h (96%) rename include/base/{ => utils}/eigen_assert.h (100%) rename include/base/{ => utils}/eigen_predicates.h (99%) rename include/base/{ => utils}/logging.h (99%) rename include/base/{ => utils}/make_unique.h (100%) rename include/base/{ => utils}/singleton.h (100%) rename src/{ => common}/node_base.cpp (75%) rename src/{ => common}/time_stamp.cpp (97%) rename src/{ => frame}/frame_base.cpp (97%) rename src/{ => hardware}/hardware_base.cpp (93%) rename src/{ => map}/map_base.cpp (97%) rename src/{ => problem}/problem.cpp (99%) rename src/{ => processor}/motion_buffer.cpp (99%) rename src/{ => processor}/track_matrix.cpp (99%) rename src/{ => state_block}/local_parametrization_base.cpp (88%) rename src/{ => state_block}/local_parametrization_homogeneous.cpp (93%) rename src/{ => state_block}/local_parametrization_polyline_extreme.cpp (93%) rename src/{ => state_block}/local_parametrization_quaternion.cpp (97%) rename src/{ => state_block}/state_block.cpp (94%) rename src/{ => trajectory}/trajectory_base.cpp (97%) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8d4e1e7e0..91de281b3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -100,7 +100,7 @@ option(_WOLF_TRACE "Enable wolf tracing macro" ON) # option(BUILD_EXAMPLES "Build examples" OFF) set(BUILD_TESTS true) -set(BUILD_EXAMPLES true) +set(BUILD_EXAMPLES false) # Does this has any other interest # but for the examples ? @@ -255,40 +255,55 @@ ENDIF(GLOG_FOUND) #HEADERS SET(HDRS_BASE - include/base/diff_drive_tools.h - include/base/diff_drive_tools.hpp - include/base/eigen_assert.h - include/base/eigen_predicates.h - include/base/factory.h - include/base/frame_base.h - include/base/hardware_base.h include/base/IMU_tools.h - include/base/local_parametrization_angle.h - include/base/local_parametrization_base.h - include/base/local_parametrization_homogeneous.h - include/base/local_parametrization_polyline_extreme.h - include/base/local_parametrization_quaternion.h - include/base/logging.h - include/base/make_unique.h - include/base/map_base.h - include/base/motion_buffer.h + ) + +SET(HDRS_COMMON + include/base/factory.h include/base/node_base.h + include/base/time_stamp.h + include/base/wolf.h + ) +SET(HDRS_MATH include/base/pinhole_tools.h - include/base/problem.h + include/base/make_unique.h + include/base/SE3.h + ) +SET(HDRS_UTILS + include/base/utils/eigen_assert.h + include/base/utils/eigen_predicates.h include/base/rotations.h + include/base/logging.h include/base/singleton.h + ) +SET(HDRS_PROBLEM + include/base/problem/problem.h + ) +SET(HDRS_HARDWARE + include/base/hardware/hardware_base.h + ) +SET(HDRS_TRAJECTORY + include/base/trajectory/trajectory_base.h + ) +SET(HDRS_MAP + include/base/map/map_base.h + ) +SET(HDRS_FRAME + include/base/frame/frame_base.h + ) +SET(HDRS_STATE_BLOCK + include/base/state_block/local_parametrization_angle.h + include/base/state_block/local_parametrization_base.h + include/base/local_parametrization_homogeneous.h + include/base/local_parametrization_polyline_extreme.h + include/base/local_parametrization_quaternion.h include/base/state_angle.h include/base/state_block.h include/base/state_homogeneous_3D.h include/base/state_quaternion.h - include/base/SE3.h - include/base/time_stamp.h - include/base/track_matrix.h - include/base/trajectory_base.h - include/base/wolf.h - include/base/IMU_tools.h include/base/local_parametrization_polyline_extreme.h ) + SET(HDRS_CAPTURE include/base/capture/capture_base.h include/base/capture/capture_buffer.h @@ -383,29 +398,33 @@ SET(HDRS_LANDMARK include/base/landmark/landmark_polyline_2D.h ) SET(HDRS_PROCESSOR + include/base/processor/diff_drive_tools.h + include/base/processor/diff_drive_tools.hpp + include/base/processor/motion_buffer.h + include/base/processor/processor_IMU.h + include/base/processor/processor_IMU.h + include/base/processor/processor_base.h include/base/processor/processor_capture_holder.h include/base/processor/processor_diff_drive.h + include/base/processor/processor_factory.h + include/base/processor/processor_factory.h include/base/processor/processor_frame_nearest_neighbor_filter.h - include/base/processor/processor_IMU.h + include/base/processor/processor_frame_nearest_neighbor_filter.h + include/base/processor/processor_logging.h + include/base/processor/processor_loopclosure_base.h + include/base/processor/processor_motion.h + include/base/processor/processor_odom_2D.h include/base/processor/processor_odom_2D.h include/base/processor/processor_odom_3D.h + include/base/processor/processor_odom_3D.h + include/base/processor/processor_tracker.h + include/base/processor/processor_tracker_feature.h + include/base/processor/processor_tracker_feature_dummy.h include/base/processor/processor_tracker_feature_dummy.h include/base/processor/processor_tracker_landmark.h include/base/processor/processor_tracker_landmark_dummy.h - include/base/processor/processor_frame_nearest_neighbor_filter.h - include/base/processor/processor_IMU.h - include/base/processor/processor_odom_2D.h - include/base/processor/processor_odom_3D.h - include/base/processor/processor_tracker_feature_dummy.h include/base/processor/processor_tracker_landmark_dummy.h - include/base/processor/processor_factory.h - include/base/processor/processor_logging.h - include/base/processor/processor_base.h - include/base/processor/processor_factory.h - include/base/processor/processor_loopclosure_base.h - include/base/processor/processor_motion.h - include/base/processor/processor_tracker_feature.h - include/base/processor/processor_tracker.h + include/base/processor/track_matrix.h ) SET(HDRS_SENSOR include/base/sensor/sensor_base.h @@ -427,101 +446,55 @@ SET(HDRS_SENSOR SET(HDRS_SOLVER include/base/solver/solver_manager.h ) -# [Add generic derived header before this line] SET(HDRS_DTASSC - include/base/track_matrix.h include/base/association/association_solver.h include/base/association/association_node.h include/base/association/association_tree.h include/base/association/association_nnls.h ) -SET(HDRS_CORE - include/base/capture/capture_base.h - include/base/capture/capture_buffer.h - include/base/capture/capture_pose.h - include/base/capture/capture_void.h - include/base/factor/factor_analytic.h - include/base/factor/factor_autodiff.h - include/base/factor/factor_base.h - include/base/processor/processor_factory.h - include/base/feature/feature_base.h - include/base/feature/feature_match.h - include/base/feature/feature_pose.h - include/base/frame_base.h - include/base/hardware_base.h - include/base/landmark/landmark_base.h - include/base/local_parametrization_angle.h - include/base/local_parametrization_base.h - include/base/local_parametrization_homogeneous.h - include/base/local_parametrization_quaternion.h - include/base/processor/processor_logging.h - include/base/map_base.h - include/base/motion_buffer.h - include/base/node_base.h - include/base/problem.h - include/base/processor/processor_base.h - include/base/processor/processor_loopclosure_base.h - include/base/processor/processor_motion.h - include/base/processor/processor_tracker_feature.h - include/base/processor/processor_tracker.h - include/base/rotations.h - include/base/sensor/sensor_base.h - include/base/processor/processor_factory.h - include/base/singleton.h - include/base/state_angle.h - include/base/state_block.h - include/base/state_homogeneous_3D.h - include/base/state_quaternion.h - include/base/SE3.h - include/base/time_stamp.h - include/base/track_matrix.h - include/base/trajectory_base.h - include/base/wolf.h - ) #SOURCES -SET(SRCS_CORE - src/capture/capture_base.cpp - src/capture/capture_pose.cpp - src/capture/capture_void.cpp - src/factor/factor_analytic.cpp - src/factor/factor_base.cpp - src/feature/feature_base.cpp - src/feature/feature_pose.cpp - src/frame_base.cpp - src/hardware_base.cpp - src/landmark/landmark_base.cpp - src/local_parametrization_base.cpp - src/local_parametrization_homogeneous.cpp - src/local_parametrization_quaternion.cpp - src/map_base.cpp - src/motion_buffer.cpp - src/node_base.cpp - src/problem.cpp - src/processor/processor_base.cpp - src/processor/processor_loopclosure_base.cpp - src/processor/processor_motion.cpp - src/processor/processor_tracker.cpp - src/sensor/sensor_base.cpp - src/state_block.cpp - src/time_stamp.cpp - src/track_matrix.cpp - src/trajectory_base.cpp +SET(SRCS_PROBLEM + src/problem/problem.cpp ) - -SET(SRCS_BASE - src/capture/capture_motion.cpp - src/processor/processor_capture_holder.cpp - # examples/test_processor_tracker_landmark.cpp +SET(SRCS_HARDWARE + src/hardware/hardware_base.cpp + ) +SET(SRCS_TRAJECTORY + src/trajectory/trajectory_base.cpp + ) +SET(SRCS_MAP + src/map/map_base.cpp + ) +SET(SRCS_FRAME + src/frame/frame_base.cpp + ) +SET(SRCS_STATE_BLOCK + src/state_block/state_block.cpp + src/state_block/local_parametrization_base.cpp + src/state_block/local_parametrization_homogeneous.cpp + src/state_block/local_parametrization_quaternion.cpp + src/state_block/local_parametrization_polyline_extreme.cpp + ) +SET(SRCS_COMMON + src/common/node_base.cpp + src/common/time_stamp.cpp + ) +SET(SRCS_MATH + ) +SET(SRCS_UTILS ) SET(SRCS - src/local_parametrization_polyline_extreme.cpp test/processor_IMU_UnitTester.cpp ) SET(SRCS_CAPTURE + src/capture/capture_motion.cpp + src/capture/capture_base.cpp + src/capture/capture_pose.cpp + src/capture/capture_void.cpp src/capture/capture_GPS_fix.cpp src/capture/capture_IMU.cpp src/capture/capture_odom_2D.cpp @@ -529,33 +502,48 @@ SET(SRCS_CAPTURE src/capture/capture_velocity.cpp src/capture/capture_wheel_joint_position.cpp ) +SET(SRCS_FACTOR + src/factor/factor_analytic.cpp + src/factor/factor_base.cpp + ) SET(SRCS_FEATURE - src/feature/feature_corner_2D.cpp - src/feature/feature_diff_drive.cpp src/feature/feature_GPS_fix.cpp src/feature/feature_GPS_pseudorange.cpp src/feature/feature_IMU.cpp + src/feature/feature_base.cpp + src/feature/feature_corner_2D.cpp + src/feature/feature_diff_drive.cpp src/feature/feature_odom_2D.cpp src/feature/feature_polyline_2D.cpp + src/feature/feature_pose.cpp ) SET(SRCS_LANDMARK src/landmark/landmark_corner_2D.cpp src/landmark/landmark_container.cpp src/landmark/landmark_line_2D.cpp src/landmark/landmark_polyline_2D.cpp + src/landmark/landmark_base.cpp ) SET(SRCS_PROCESSOR - src/processor/processor_frame_nearest_neighbor_filter.cpp - src/processor/processor_diff_drive.cpp + src/processor/motion_buffer.cpp src/processor/processor_IMU.cpp + src/processor/processor_base.cpp + src/processor/processor_capture_holder.cpp + src/processor/processor_diff_drive.cpp + src/processor/processor_frame_nearest_neighbor_filter.cpp + src/processor/processor_loopclosure_base.cpp + src/processor/processor_motion.cpp src/processor/processor_odom_2D.cpp src/processor/processor_odom_3D.cpp + src/processor/processor_tracker.cpp src/processor/processor_tracker_feature.cpp src/processor/processor_tracker_feature_dummy.cpp - src/processor/processor_tracker_landmark_dummy.cpp src/processor/processor_tracker_landmark.cpp + src/processor/processor_tracker_landmark_dummy.cpp + src/processor/track_matrix.cpp ) SET(SRCS_SENSOR + src/sensor/sensor_base.cpp src/sensor/sensor_camera.cpp src/sensor/sensor_diff_drive.cpp src/sensor/sensor_GPS.cpp @@ -704,17 +692,25 @@ ENDIF(YAMLCPP_FOUND) ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS_BASE} - ${SRCS_CORE} - ${SRCS} ${SRCS_CAPTURE} + ${SRCS_COMMON} + ${SRCS_DTASSC} ${SRCS_FACTOR} ${SRCS_FEATURE} + ${SRCS_FRAME} + ${SRCS_HARDWARE} ${SRCS_LANDMARK} + ${SRCS_MAP} + ${SRCS_MATH} + ${SRCS_PROBLEM} ${SRCS_PROCESSOR} ${SRCS_SENSOR} - #${SRCS_DTASSC} ${SRCS_SOLVER} + ${SRCS_STATE_BLOCK} + ${SRCS_TRAJECTORY} + ${SRCS_UTILS} ${SRCS_WRAPPER} + ${SRCS} ) TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT}) @@ -770,6 +766,24 @@ INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME}) #install headers +INSTALL(FILES ${HDRS_MATH} + DESTINATION include/iri-algorithms/wolf/base/math) +INSTALL(FILES ${HDRS_UTILS} + DESTINATION include/iri-algorithms/wolf/base/utils) +INSTALL(FILES ${HDRS_PROBLEM} + DESTINATION include/iri-algorithms/wolf/base/problem) +INSTALL(FILES ${HDRS_HARDWARE} + DESTINATION include/iri-algorithms/wolf/base/hardware) +INSTALL(FILES ${HDRS_TRAJECTORY} + DESTINATION include/iri-algorithms/wolf/base/trajectory) +INSTALL(FILES ${HDRS_MAP} + DESTINATION include/iri-algorithms/wolf/base/map) +INSTALL(FILES ${HDRS_FRAME} + DESTINATION include/iri-algorithms/wolf/base/frame) +INSTALL(FILES ${HDRS_STATE_BLOCK} + DESTINATION include/iri-algorithms/wolf/base/state_block) +INSTALL(FILES ${HDRS_COMMON} + DESTINATION include/iri-algorithms/wolf/base/common) INSTALL(FILES ${HDRS_BASE} DESTINATION include/iri-algorithms/wolf/base) INSTALL(FILES ${HDRS_DTASSC} diff --git a/hello_wolf/hello_wolf.cpp b/hello_wolf/hello_wolf.cpp index 7eabd8830..3708f51d3 100644 --- a/hello_wolf/hello_wolf.cpp +++ b/hello_wolf/hello_wolf.cpp @@ -12,7 +12,7 @@ * \author: jsola */ -#include "base/wolf.h" +#include "base/common/wolf.h" #include "base/sensor/sensor_odom_2D.h" #include "base/processor/processor_odom_2D.h" diff --git a/hello_wolf/sensor_range_bearing.cpp b/hello_wolf/sensor_range_bearing.cpp index 04d704664..591800ae6 100644 --- a/hello_wolf/sensor_range_bearing.cpp +++ b/hello_wolf/sensor_range_bearing.cpp @@ -6,7 +6,7 @@ */ #include "sensor_range_bearing.h" -#include "base/state_angle.h" +#include "base/state_block/state_angle.h" namespace wolf { diff --git a/include/base/IMU_tools.h b/include/base/IMU_tools.h index eecad244c..815ed2aa2 100644 --- a/include/base/IMU_tools.h +++ b/include/base/IMU_tools.h @@ -8,8 +8,8 @@ #ifndef IMU_TOOLS_H_ #define IMU_TOOLS_H_ -#include "base/wolf.h" -#include "base/rotations.h" +#include "base/common/wolf.h" +#include "base/math/rotations.h" /* * Most functions in this file are explained in the document: diff --git a/include/base/capture/capture_base.h b/include/base/capture/capture_base.h index 0082d9d31..b3adeb9be 100644 --- a/include/base/capture/capture_base.h +++ b/include/base/capture/capture_base.h @@ -8,9 +8,9 @@ class FeatureBase; } //Wolf includes -#include "base/wolf.h" -#include "base/node_base.h" -#include "base/time_stamp.h" +#include "base/common/wolf.h" +#include "base/common/node_base.h" +#include "base/common/time_stamp.h" //std includes @@ -110,9 +110,9 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture } #include "base/sensor/sensor_base.h" -#include "base/frame_base.h" +#include "base/frame/frame_base.h" #include "base/feature/feature_base.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" namespace wolf{ diff --git a/include/base/capture/capture_buffer.h b/include/base/capture/capture_buffer.h index 434716dcf..393d7fc24 100644 --- a/include/base/capture/capture_buffer.h +++ b/include/base/capture/capture_buffer.h @@ -8,8 +8,8 @@ #ifndef _WOLF_CAPTURE_BUFFER_H_ #define _WOLF_CAPTURE_BUFFER_H_ -#include "base/wolf.h" -#include "base/time_stamp.h" +#include "base/common/wolf.h" +#include "base/common/time_stamp.h" #include <list> #include <algorithm> diff --git a/include/base/capture/capture_motion.h b/include/base/capture/capture_motion.h index ed71171e9..0f84eb72d 100644 --- a/include/base/capture/capture_motion.h +++ b/include/base/capture/capture_motion.h @@ -10,7 +10,7 @@ // Wolf includes #include "base/capture/capture_base.h" -#include "base/motion_buffer.h" +#include "base/processor/motion_buffer.h" // STL includes #include <list> diff --git a/include/base/capture/capture_odom_2D.h b/include/base/capture/capture_odom_2D.h index eafb6ead7..ff532803c 100644 --- a/include/base/capture/capture_odom_2D.h +++ b/include/base/capture/capture_odom_2D.h @@ -10,7 +10,7 @@ #include "base/capture/capture_motion.h" -#include "base/rotations.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/include/base/capture/capture_odom_3D.h b/include/base/capture/capture_odom_3D.h index d1f29508b..863add268 100644 --- a/include/base/capture/capture_odom_3D.h +++ b/include/base/capture/capture_odom_3D.h @@ -10,7 +10,7 @@ #include "base/capture/capture_motion.h" -#include "base/rotations.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/include/base/ceres_wrapper/cost_function_wrapper.h b/include/base/ceres_wrapper/cost_function_wrapper.h index 4a3f42dcb..2847d9b9a 100644 --- a/include/base/ceres_wrapper/cost_function_wrapper.h +++ b/include/base/ceres_wrapper/cost_function_wrapper.h @@ -2,7 +2,7 @@ #define TRUNK_SRC_COST_FUNCTION_WRAPPER_H_ // WOLF -#include "base/wolf.h" +#include "base/common/wolf.h" #include "base/factor/factor_analytic.h" // CERES diff --git a/include/base/ceres_wrapper/local_parametrization_wrapper.h b/include/base/ceres_wrapper/local_parametrization_wrapper.h index fc046a7ec..31a2913ec 100644 --- a/include/base/ceres_wrapper/local_parametrization_wrapper.h +++ b/include/base/ceres_wrapper/local_parametrization_wrapper.h @@ -7,7 +7,7 @@ class LocalParametrizationBase; } //Ceres includes -#include "base/wolf.h" +#include "base/common/wolf.h" #include "ceres/ceres.h" namespace wolf { @@ -38,7 +38,7 @@ using LocalParametrizationWrapperPtr = std::shared_ptr<LocalParametrizationWrapp } // namespace wolf -#include "base/local_parametrization_base.h" +#include "base/state_block/local_parametrization_base.h" namespace wolf { diff --git a/include/base/ceres_wrapper/solver_manager.h b/include/base/ceres_wrapper/solver_manager.h index 7252c409d..1bdf40a64 100644 --- a/include/base/ceres_wrapper/solver_manager.h +++ b/include/base/ceres_wrapper/solver_manager.h @@ -2,8 +2,8 @@ #define SOLVER_MANAGER_H_ //wolf includes -#include "base/wolf.h" -#include "base/state_block.h" +#include "base/common/wolf.h" +#include "base/state_block/state_block.h" #include "base/factor/factor_base.h" namespace wolf { diff --git a/include/base/factory.h b/include/base/common/factory.h similarity index 99% rename from include/base/factory.h rename to include/base/common/factory.h index b161126e4..03b636e81 100644 --- a/include/base/factory.h +++ b/include/base/common/factory.h @@ -9,7 +9,7 @@ #define FACTORY_H_ // wolf -#include "base/wolf.h" +#include "base/common/wolf.h" // std #include <string> @@ -347,7 +347,7 @@ inline std::string LandmarkFactory::getClass() // Frames class TimeStamp; } // namespace wolf -#include "base/frame_base.h" +#include "base/frame/frame_base.h" namespace wolf{ typedef Factory<FrameBase, const FrameType&, const TimeStamp&, const Eigen::VectorXs&> FrameFactory; template<> diff --git a/include/base/node_base.h b/include/base/common/node_base.h similarity index 99% rename from include/base/node_base.h rename to include/base/common/node_base.h index ebbc64082..7ecd72166 100644 --- a/include/base/node_base.h +++ b/include/base/common/node_base.h @@ -2,7 +2,7 @@ #define NODE_BASE_H_ // Wolf includes -#include "base/wolf.h" +#include "base/common/wolf.h" namespace wolf { diff --git a/include/base/time_stamp.h b/include/base/common/time_stamp.h similarity index 99% rename from include/base/time_stamp.h rename to include/base/common/time_stamp.h index 02a5599af..14ed594f6 100644 --- a/include/base/time_stamp.h +++ b/include/base/common/time_stamp.h @@ -3,7 +3,7 @@ #define TIME_STAMP_H_ //wolf includes -#include "base/wolf.h" +#include "base/common/wolf.h" //C, std #include <sys/time.h> diff --git a/include/base/wolf.h b/include/base/common/wolf.h similarity index 99% rename from include/base/wolf.h rename to include/base/common/wolf.h index 791336595..6b73e59a2 100644 --- a/include/base/wolf.h +++ b/include/base/common/wolf.h @@ -10,7 +10,7 @@ // Enable project-specific definitions and macros #include "internal/config.h" -#include "base/logging.h" +#include "base/utils/logging.h" //includes from Eigen lib #include <Eigen/Dense> diff --git a/include/base/factor/factor_AHP.h b/include/base/factor/factor_AHP.h index a6448b064..efb0837c8 100644 --- a/include/base/factor/factor_AHP.h +++ b/include/base/factor/factor_AHP.h @@ -6,7 +6,7 @@ #include "base/landmark/landmark_AHP.h" #include "base/sensor/sensor_camera.h" //#include "base/feature/feature_point_image.h" -#include "base/pinhole_tools.h" +#include "base/math/pinhole_tools.h" #include <iomanip> //setprecision diff --git a/include/base/factor/factor_GPS_2D.h b/include/base/factor/factor_GPS_2D.h index a3ce0e609..bac2e381c 100644 --- a/include/base/factor/factor_GPS_2D.h +++ b/include/base/factor/factor_GPS_2D.h @@ -3,9 +3,9 @@ #define FACTOR_GPS_2D_H_ //Wolf includes -#include "base/wolf.h" +#include "base/common/wolf.h" #include "base/factor/factor_autodiff.h" -#include "base/frame_base.h" +#include "base/frame/frame_base.h" namespace wolf { diff --git a/include/base/factor/factor_IMU.h b/include/base/factor/factor_IMU.h index fbb29d164..942cbf51c 100644 --- a/include/base/factor/factor_IMU.h +++ b/include/base/factor/factor_IMU.h @@ -5,7 +5,7 @@ #include "base/feature/feature_IMU.h" #include "base/sensor/sensor_IMU.h" #include "base/factor/factor_autodiff.h" -#include "base/rotations.h" +#include "base/math/rotations.h" //Eigen include diff --git a/include/base/factor/factor_autodiff.h b/include/base/factor/factor_autodiff.h index be35c772a..372891cdd 100644 --- a/include/base/factor/factor_autodiff.h +++ b/include/base/factor/factor_autodiff.h @@ -4,7 +4,7 @@ //Wolf includes #include "base/factor/factor_base.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" // CERES #include "ceres/jet.h" diff --git a/include/base/factor/factor_autodiff_trifocal.h b/include/base/factor/factor_autodiff_trifocal.h index d7c2091fb..5b88708c4 100644 --- a/include/base/factor/factor_autodiff_trifocal.h +++ b/include/base/factor/factor_autodiff_trifocal.h @@ -2,7 +2,7 @@ #define _FACTOR_AUTODIFF_TRIFOCAL_H_ //Wolf includes -//#include "base/wolf.h" +//#include "base/common/wolf.h" #include "base/factor/factor_autodiff.h" #include "base/sensor/sensor_camera.h" @@ -118,7 +118,7 @@ class FactorAutodiffTrifocal : public FactorAutodiff<FactorAutodiffTrifocal, 3, } // namespace wolf // Includes for implentation -#include "base/rotations.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/include/base/factor/factor_base.h b/include/base/factor/factor_base.h index 4562d5f75..8d79b0065 100644 --- a/include/base/factor/factor_base.h +++ b/include/base/factor/factor_base.h @@ -7,8 +7,8 @@ class FeatureBase; } //Wolf includes -#include "base/wolf.h" -#include "base/node_base.h" +#include "base/common/wolf.h" +#include "base/common/node_base.h" //std includes @@ -182,8 +182,8 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa // IMPLEMENTATION // -#include "base/problem.h" -#include "base/frame_base.h" +#include "base/problem/problem.h" +#include "base/frame/frame_base.h" #include "base/feature/feature_base.h" #include "base/sensor/sensor_base.h" #include "base/landmark/landmark_base.h" diff --git a/include/base/factor/factor_block_absolute.h b/include/base/factor/factor_block_absolute.h index 4e0da9d76..3990a4412 100644 --- a/include/base/factor/factor_block_absolute.h +++ b/include/base/factor/factor_block_absolute.h @@ -11,7 +11,7 @@ //Wolf includes #include "base/factor/factor_analytic.h" #include "base/factor/factor_autodiff.h" -#include "base/frame_base.h" +#include "base/frame/frame_base.h" namespace wolf { diff --git a/include/base/factor/factor_container.h b/include/base/factor/factor_container.h index 93d455a8e..7f34ad69f 100644 --- a/include/base/factor/factor_container.h +++ b/include/base/factor/factor_container.h @@ -2,7 +2,7 @@ #define FACTOR_CONTAINER_H_ //Wolf includes -#include "base/wolf.h" +#include "base/common/wolf.h" #include "base/factor/factor_autodiff.h" #include "base/landmark/landmark_container.h" diff --git a/include/base/factor/factor_diff_drive.h b/include/base/factor/factor_diff_drive.h index b495859c7..84f535ee7 100644 --- a/include/base/factor/factor_diff_drive.h +++ b/include/base/factor/factor_diff_drive.h @@ -10,7 +10,7 @@ //Wolf includes #include "base/factor/factor_autodiff.h" -#include "base/frame_base.h" +#include "base/frame/frame_base.h" #include "base/feature/feature_diff_drive.h" #include "base/capture/capture_wheel_joint_position.h" diff --git a/include/base/factor/factor_fix_bias.h b/include/base/factor/factor_fix_bias.h index 6c1f321dc..82a137969 100644 --- a/include/base/factor/factor_fix_bias.h +++ b/include/base/factor/factor_fix_bias.h @@ -6,8 +6,8 @@ #include "base/capture/capture_IMU.h" #include "base/feature/feature_IMU.h" #include "base/factor/factor_autodiff.h" -#include "base/frame_base.h" -#include "base/rotations.h" +#include "base/frame/frame_base.h" +#include "base/math/rotations.h" //#include "ceres/jet.h" diff --git a/include/base/factor/factor_odom_2D.h b/include/base/factor/factor_odom_2D.h index e45570d79..8a9d06747 100644 --- a/include/base/factor/factor_odom_2D.h +++ b/include/base/factor/factor_odom_2D.h @@ -3,7 +3,7 @@ //Wolf includes #include "base/factor/factor_autodiff.h" -#include "base/frame_base.h" +#include "base/frame/frame_base.h" //#include "ceres/jet.h" diff --git a/include/base/factor/factor_odom_3D.h b/include/base/factor/factor_odom_3D.h index ce3456ef0..c3a3cfb83 100644 --- a/include/base/factor/factor_odom_3D.h +++ b/include/base/factor/factor_odom_3D.h @@ -9,7 +9,7 @@ #define FACTOR_ODOM_3D_H_ #include "base/factor/factor_autodiff.h" -#include "base/rotations.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/include/base/factor/factor_pose_2D.h b/include/base/factor/factor_pose_2D.h index 306b5e15e..f1cc286ea 100644 --- a/include/base/factor/factor_pose_2D.h +++ b/include/base/factor/factor_pose_2D.h @@ -4,8 +4,8 @@ //Wolf includes #include "base/factor/factor_autodiff.h" -#include "base/frame_base.h" -#include "base/rotations.h" +#include "base/frame/frame_base.h" +#include "base/math/rotations.h" //#include "ceres/jet.h" diff --git a/include/base/factor/factor_pose_3D.h b/include/base/factor/factor_pose_3D.h index b9c4da395..25273bad2 100644 --- a/include/base/factor/factor_pose_3D.h +++ b/include/base/factor/factor_pose_3D.h @@ -4,8 +4,8 @@ //Wolf includes #include "base/factor/factor_autodiff.h" -#include "base/frame_base.h" -#include "base/rotations.h" +#include "base/frame/frame_base.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/include/base/factor/factor_quaternion_absolute.h b/include/base/factor/factor_quaternion_absolute.h index 1864a6c8e..abb419afa 100644 --- a/include/base/factor/factor_quaternion_absolute.h +++ b/include/base/factor/factor_quaternion_absolute.h @@ -10,9 +10,9 @@ //Wolf includes #include "base/factor/factor_autodiff.h" -#include "base/local_parametrization_quaternion.h" -#include "base/frame_base.h" -#include "base/rotations.h" +#include "base/state_block/local_parametrization_quaternion.h" +#include "base/frame/frame_base.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/include/base/feature/feature_IMU.h b/include/base/feature/feature_IMU.h index dfce11ff7..c82083332 100644 --- a/include/base/feature/feature_IMU.h +++ b/include/base/feature/feature_IMU.h @@ -4,7 +4,7 @@ //Wolf includes #include "base/capture/capture_IMU.h" #include "base/feature/feature_base.h" -#include "base/wolf.h" +#include "base/common/wolf.h" //std includes diff --git a/include/base/feature/feature_base.h b/include/base/feature/feature_base.h index 3732bc552..3e1ea5588 100644 --- a/include/base/feature/feature_base.h +++ b/include/base/feature/feature_base.h @@ -8,8 +8,8 @@ class FactorBase; } //Wolf includes -#include "base/wolf.h" -#include "base/node_base.h" +#include "base/common/wolf.h" +#include "base/common/node_base.h" //std includes diff --git a/include/base/feature/feature_match.h b/include/base/feature/feature_match.h index b96ce0023..92e456019 100644 --- a/include/base/feature/feature_match.h +++ b/include/base/feature/feature_match.h @@ -2,7 +2,7 @@ #define FEATURE_MATCH_H_ // Wolf includes -#include "base/wolf.h" +#include "base/common/wolf.h" //wolf nampseace namespace wolf { diff --git a/include/base/frame_base.h b/include/base/frame/frame_base.h similarity index 97% rename from include/base/frame_base.h rename to include/base/frame/frame_base.h index 0177bd8e9..ffa84d74d 100644 --- a/include/base/frame_base.h +++ b/include/base/frame/frame_base.h @@ -10,9 +10,9 @@ class StateBlock; } //Wolf includes -#include "base/wolf.h" -#include "base/time_stamp.h" -#include "base/node_base.h" +#include "base/common/wolf.h" +#include "base/common/time_stamp.h" +#include "base/common/node_base.h" //std includes @@ -155,10 +155,10 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase // IMPLEMENTATION // -#include "base/trajectory_base.h" +#include "base/trajectory/trajectory_base.h" #include "base/capture/capture_base.h" #include "base/factor/factor_base.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" namespace wolf { diff --git a/include/base/hardware_base.h b/include/base/hardware/hardware_base.h similarity index 91% rename from include/base/hardware_base.h rename to include/base/hardware/hardware_base.h index 6dd60648b..fb688410b 100644 --- a/include/base/hardware_base.h +++ b/include/base/hardware/hardware_base.h @@ -8,8 +8,8 @@ class SensorBase; } //Wolf includes -#include "base/wolf.h" -#include "base/node_base.h" +#include "base/common/wolf.h" +#include "base/common/node_base.h" namespace wolf { diff --git a/include/base/landmark/landmark_base.h b/include/base/landmark/landmark_base.h index e3b61d65b..dad1e3a7c 100644 --- a/include/base/landmark/landmark_base.h +++ b/include/base/landmark/landmark_base.h @@ -8,9 +8,9 @@ class StateBlock; } //Wolf includes -#include "base/wolf.h" -#include "base/node_base.h" -#include "base/time_stamp.h" +#include "base/common/wolf.h" +#include "base/common/node_base.h" +#include "base/common/time_stamp.h" //std includes @@ -96,9 +96,9 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma } -#include "base/map_base.h" +#include "base/map/map_base.h" #include "base/factor/factor_base.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" namespace wolf{ diff --git a/include/base/landmark/landmark_container.h b/include/base/landmark/landmark_container.h index 65a2c5b71..122b77071 100644 --- a/include/base/landmark/landmark_container.h +++ b/include/base/landmark/landmark_container.h @@ -4,7 +4,7 @@ //Wolf includes #include "base/landmark/landmark_base.h" -#include "base/wolf.h" +#include "base/common/wolf.h" // Std includes diff --git a/include/base/landmark/landmark_line_2D.h b/include/base/landmark/landmark_line_2D.h index 3a0f84c34..7caf3b290 100644 --- a/include/base/landmark/landmark_line_2D.h +++ b/include/base/landmark/landmark_line_2D.h @@ -4,7 +4,7 @@ //Wolf includes #include "base/landmark/landmark_base.h" -#include "base/wolf.h" +#include "base/common/wolf.h" //std includes diff --git a/include/base/landmark/landmark_match.h b/include/base/landmark/landmark_match.h index 0c5d3a491..48de1e5c9 100644 --- a/include/base/landmark/landmark_match.h +++ b/include/base/landmark/landmark_match.h @@ -2,7 +2,7 @@ #define LANDMARK_MATCH_H_ // Wolf includes -#include "base/wolf.h" +#include "base/common/wolf.h" //wolf nampseace namespace wolf { diff --git a/include/base/map_base.h b/include/base/map/map_base.h similarity index 93% rename from include/base/map_base.h rename to include/base/map/map_base.h index a8b447905..c3d6eb8c9 100644 --- a/include/base/map_base.h +++ b/include/base/map/map_base.h @@ -9,8 +9,8 @@ class LandmarkBase; } //Wolf includes -#include "base/wolf.h" -#include "base/node_base.h" +#include "base/common/wolf.h" +#include "base/common/node_base.h" //std includes diff --git a/include/base/SE3.h b/include/base/math/SE3.h similarity index 99% rename from include/base/SE3.h rename to include/base/math/SE3.h index cea354607..5a84f0c7e 100644 --- a/include/base/SE3.h +++ b/include/base/math/SE3.h @@ -8,8 +8,8 @@ #ifndef SE3_H_ #define SE3_H_ -#include "base/wolf.h" -#include "base/rotations.h" +#include "base/common/wolf.h" +#include "base/math/rotations.h" /* * The functions in this file are related to manipulations of Delta motion magnitudes used in 3D motion. diff --git a/include/base/pinhole_tools.h b/include/base/math/pinhole_tools.h similarity index 99% rename from include/base/pinhole_tools.h rename to include/base/math/pinhole_tools.h index 46cb1fb9d..9fed8ba7c 100644 --- a/include/base/pinhole_tools.h +++ b/include/base/math/pinhole_tools.h @@ -11,7 +11,7 @@ * */ -#include "base/wolf.h" +#include "base/common/wolf.h" #include <iostream> diff --git a/include/base/rotations.h b/include/base/math/rotations.h similarity index 99% rename from include/base/rotations.h rename to include/base/math/rotations.h index d4d3e711f..fc0e8b2bb 100644 --- a/include/base/rotations.h +++ b/include/base/math/rotations.h @@ -8,7 +8,7 @@ #ifndef ROTATIONS_H_ #define ROTATIONS_H_ -#include "base/wolf.h" +#include "base/common/wolf.h" namespace wolf { diff --git a/include/base/problem.h b/include/base/problem/problem.h similarity index 99% rename from include/base/problem.h rename to include/base/problem/problem.h index a9f8e5e4a..8c88b0eaa 100644 --- a/include/base/problem.h +++ b/include/base/problem/problem.h @@ -14,9 +14,9 @@ struct ProcessorParamsBase; } //wolf includes -#include "base/wolf.h" -#include "base/frame_base.h" -#include "base/state_block.h" +#include "base/common/wolf.h" +#include "base/frame/frame_base.h" +#include "base/state_block/state_block.h" // std includes diff --git a/include/base/diff_drive_tools.h b/include/base/processor/diff_drive_tools.h similarity index 99% rename from include/base/diff_drive_tools.h rename to include/base/processor/diff_drive_tools.h index 142b8c502..92883eafa 100644 --- a/include/base/diff_drive_tools.h +++ b/include/base/processor/diff_drive_tools.h @@ -8,7 +8,7 @@ #ifndef _WOLF_PROCESSOR_DIFF_DRIVE_TOOLS_H_ #define _WOLF_PROCESSOR_DIFF_DRIVE_TOOLS_H_ -#include "base/eigen_assert.h" +#include "base/utils/eigen_assert.h" namespace wolf { @@ -419,6 +419,6 @@ Eigen::Matrix<typename T::Scalar, 2, 2> computeWheelJointPositionCov( } // namespace wolf -#include "base/diff_drive_tools.hpp" +#include "base/processor/diff_drive_tools.hpp" #endif /* _WOLF_PROCESSOR_DIFF_DRIVE_TOOLS_H_ */ diff --git a/include/base/diff_drive_tools.hpp b/include/base/processor/diff_drive_tools.hpp similarity index 100% rename from include/base/diff_drive_tools.hpp rename to include/base/processor/diff_drive_tools.hpp diff --git a/include/base/motion_buffer.h b/include/base/processor/motion_buffer.h similarity index 98% rename from include/base/motion_buffer.h rename to include/base/processor/motion_buffer.h index f8d0ad5be..40fbd2925 100644 --- a/include/base/motion_buffer.h +++ b/include/base/processor/motion_buffer.h @@ -8,8 +8,8 @@ #ifndef SRC_MOTIONBUFFER_H_ #define SRC_MOTIONBUFFER_H_ -#include "base/wolf.h" -#include "base/time_stamp.h" +#include "base/common/wolf.h" +#include "base/common/time_stamp.h" #include <list> #include <algorithm> diff --git a/include/base/processor/processor_base.h b/include/base/processor/processor_base.h index 84fee5343..5d68c43c7 100644 --- a/include/base/processor/processor_base.h +++ b/include/base/processor/processor_base.h @@ -7,10 +7,10 @@ class SensorBase; } // Wolf includes -#include "base/wolf.h" -#include "base/node_base.h" -#include "base/time_stamp.h" -#include "base/frame_base.h" +#include "base/common/wolf.h" +#include "base/common/node_base.h" +#include "base/common/time_stamp.h" +#include "base/frame/frame_base.h" // std #include <memory> diff --git a/include/base/processor/processor_diff_drive.h b/include/base/processor/processor_diff_drive.h index d0c8411f2..4ea5181b8 100644 --- a/include/base/processor/processor_diff_drive.h +++ b/include/base/processor/processor_diff_drive.h @@ -9,7 +9,7 @@ #define _WOLF_PROCESSOR_DIFF_DRIVE_H_ #include "base/processor/processor_motion.h" -#include "base/diff_drive_tools.h" +#include "base/processor/diff_drive_tools.h" namespace wolf { diff --git a/include/base/processor/processor_factory.h b/include/base/processor/processor_factory.h index 8077aae49..390a66bec 100644 --- a/include/base/processor/processor_factory.h +++ b/include/base/processor/processor_factory.h @@ -15,7 +15,7 @@ struct ProcessorParamsBase; } // wolf -#include "base/factory.h" +#include "base/common/factory.h" // std @@ -155,7 +155,7 @@ namespace wolf * \code * #include "base/sensor/sensor_odom_2D.h" * #include "base/processor/processor_odom_2D.h" - * #include "base/problem.h" + * #include "base/problem/problem.h" * * Problem problem(FRM_PO_2D); * problem.installSensor ( "ODOM 2D" , "Main odometer" , extrinsics , &intrinsics ); diff --git a/include/base/processor/processor_frame_nearest_neighbor_filter.h b/include/base/processor/processor_frame_nearest_neighbor_filter.h index be1205e27..ceb494253 100644 --- a/include/base/processor/processor_frame_nearest_neighbor_filter.h +++ b/include/base/processor/processor_frame_nearest_neighbor_filter.h @@ -3,7 +3,7 @@ // Wolf related headers #include "base/processor/processor_loopclosure_base.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" namespace wolf{ diff --git a/include/base/processor/processor_logging.h b/include/base/processor/processor_logging.h index 4add7a8e9..d41d7ce30 100644 --- a/include/base/processor/processor_logging.h +++ b/include/base/processor/processor_logging.h @@ -9,7 +9,7 @@ #define _WOLF_PROCESSOR_LOGGING_H_ /// @brief un-comment for IDE highlights. -//#include "base/logging.h" +//#include "base/utils/logging.h" #define __INTERNAL_WOLF_ASSERT_PROCESSOR \ static_assert(std::is_base_of<ProcessorBase, \ diff --git a/include/base/processor/processor_motion.h b/include/base/processor/processor_motion.h index b66feb38f..46af97f52 100644 --- a/include/base/processor/processor_motion.h +++ b/include/base/processor/processor_motion.h @@ -11,7 +11,7 @@ // Wolf #include "base/capture/capture_motion.h" #include "base/processor/processor_base.h" -#include "base/time_stamp.h" +#include "base/common/time_stamp.h" // std #include <iomanip> @@ -476,7 +476,7 @@ class ProcessorMotion : public ProcessorBase } -#include "base/frame_base.h" +#include "base/frame/frame_base.h" namespace wolf{ diff --git a/include/base/processor/processor_odom_2D.h b/include/base/processor/processor_odom_2D.h index d18c9591e..ae73d0e93 100644 --- a/include/base/processor/processor_odom_2D.h +++ b/include/base/processor/processor_odom_2D.h @@ -11,7 +11,7 @@ #include "base/processor/processor_motion.h" #include "base/capture/capture_odom_2D.h" #include "base/factor/factor_odom_2D.h" -#include "base/rotations.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/include/base/processor/processor_odom_3D.h b/include/base/processor/processor_odom_3D.h index 2cbc26a06..5602eb383 100644 --- a/include/base/processor/processor_odom_3D.h +++ b/include/base/processor/processor_odom_3D.h @@ -12,7 +12,7 @@ #include "base/sensor/sensor_odom_3D.h" #include "base/capture/capture_odom_3D.h" #include "base/factor/factor_odom_3D.h" -#include "base/rotations.h" +#include "base/math/rotations.h" #include <cmath> namespace wolf { diff --git a/include/base/processor/processor_tracker_feature.h b/include/base/processor/processor_tracker_feature.h index c743eed17..17da3af43 100644 --- a/include/base/processor/processor_tracker_feature.h +++ b/include/base/processor/processor_tracker_feature.h @@ -12,8 +12,8 @@ #include "base/processor/processor_tracker.h" #include "base/capture/capture_base.h" #include "base/feature/feature_match.h" -#include "base/track_matrix.h" -#include "base/wolf.h" +#include "base/processor/track_matrix.h" +#include "base/common/wolf.h" namespace wolf { diff --git a/include/base/processor/processor_tracker_feature_corner.h b/include/base/processor/processor_tracker_feature_corner.h index 63ef69245..566b2aea9 100644 --- a/include/base/processor/processor_tracker_feature_corner.h +++ b/include/base/processor/processor_tracker_feature_corner.h @@ -14,7 +14,7 @@ #include "base/feature/feature_corner_2D.h" #include "base/landmark/landmark_corner_2D.h" #include "base/factor/factor_corner_2D.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" #include "base/association/association_tree.h" #include "base/processor/processor_tracker_feature.h" diff --git a/include/base/processor/processor_tracker_feature_dummy.h b/include/base/processor/processor_tracker_feature_dummy.h index 419c31f5d..c0b40edbe 100644 --- a/include/base/processor/processor_tracker_feature_dummy.h +++ b/include/base/processor/processor_tracker_feature_dummy.h @@ -8,7 +8,7 @@ #ifndef PROCESSOR_TRACKER_FEATURE_DUMMY_H_ #define PROCESSOR_TRACKER_FEATURE_DUMMY_H_ -#include "base/wolf.h" +#include "base/common/wolf.h" #include "base/processor/processor_tracker_feature.h" #include "base/factor/factor_epipolar.h" diff --git a/include/base/processor/processor_tracker_feature_image.h b/include/base/processor/processor_tracker_feature_image.h index 25e2c6291..7378c8a3d 100644 --- a/include/base/processor/processor_tracker_feature_image.h +++ b/include/base/processor/processor_tracker_feature_image.h @@ -5,8 +5,8 @@ #include "base/sensor/sensor_camera.h" #include "base/capture/capture_image.h" #include "base/feature/feature_point_image.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" #include "base/processor/processor_tracker_feature.h" #include "base/factor/factor_epipolar.h" #include "base/processor/processor_params_image.h" diff --git a/include/base/processor/processor_tracker_landmark_corner.h b/include/base/processor/processor_tracker_landmark_corner.h index 83be3c837..2b381719a 100644 --- a/include/base/processor/processor_tracker_landmark_corner.h +++ b/include/base/processor/processor_tracker_landmark_corner.h @@ -14,7 +14,7 @@ #include "base/feature/feature_corner_2D.h" #include "base/landmark/landmark_corner_2D.h" #include "base/factor/factor_corner_2D.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" #include "base/association/association_tree.h" #include "base/processor/processor_tracker_landmark.h" diff --git a/include/base/processor/processor_tracker_landmark_image.h b/include/base/processor/processor_tracker_landmark_image.h index afdc8eff9..f98f87707 100644 --- a/include/base/processor/processor_tracker_landmark_image.h +++ b/include/base/processor/processor_tracker_landmark_image.h @@ -7,7 +7,7 @@ #include "base/landmark/landmark_match.h" #include "base/processor/processor_params_image.h" #include "base/processor/processor_tracker_landmark.h" -#include "base/wolf.h" +#include "base/common/wolf.h" #include <algorithms/activesearch/alg_activesearch.h> #include <descriptors/descriptor_base.h> diff --git a/include/base/track_matrix.h b/include/base/processor/track_matrix.h similarity index 100% rename from include/base/track_matrix.h rename to include/base/processor/track_matrix.h diff --git a/include/base/sensor/sensor_GPS.h b/include/base/sensor/sensor_GPS.h index a56b8c267..6881537b6 100644 --- a/include/base/sensor/sensor_GPS.h +++ b/include/base/sensor/sensor_GPS.h @@ -11,7 +11,7 @@ //wolf #include "base/sensor/sensor_base.h" //#include "sensor_factory.h" -//#include "base/factory.h" +//#include "base/common/factory.h" // std diff --git a/include/base/sensor/sensor_base.h b/include/base/sensor/sensor_base.h index 64ed42ba2..4d9910ff2 100644 --- a/include/base/sensor/sensor_base.h +++ b/include/base/sensor/sensor_base.h @@ -9,9 +9,9 @@ class StateBlock; } //Wolf includes -#include "base/wolf.h" -#include "base/node_base.h" -#include "base/time_stamp.h" +#include "base/common/wolf.h" +#include "base/common/node_base.h" +#include "base/common/time_stamp.h" //std includes @@ -190,8 +190,8 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa } -#include "base/problem.h" -#include "base/hardware_base.h" +#include "base/problem/problem.h" +#include "base/hardware/hardware_base.h" #include "base/capture/capture_base.h" #include "base/processor/processor_base.h" diff --git a/include/base/sensor/sensor_diff_drive.h b/include/base/sensor/sensor_diff_drive.h index 0f5cf4259..4a3882974 100644 --- a/include/base/sensor/sensor_diff_drive.h +++ b/include/base/sensor/sensor_diff_drive.h @@ -10,7 +10,7 @@ //wolf includes #include "base/sensor/sensor_base.h" -#include "base/diff_drive_tools.h" +#include "base/processor/diff_drive_tools.h" namespace wolf { diff --git a/include/base/sensor/sensor_factory.h b/include/base/sensor/sensor_factory.h index 32884c18f..d74c9b1ab 100644 --- a/include/base/sensor/sensor_factory.h +++ b/include/base/sensor/sensor_factory.h @@ -15,7 +15,7 @@ struct IntrinsicsBase; } // wolf -#include "base/factory.h" +#include "base/common/factory.h" namespace wolf { diff --git a/include/base/solver/solver_manager.h b/include/base/solver/solver_manager.h index f64b35719..28e43acfa 100644 --- a/include/base/solver/solver_manager.h +++ b/include/base/solver/solver_manager.h @@ -2,8 +2,8 @@ #define _WOLF_SOLVER_MANAGER_H_ //wolf includes -#include "base/wolf.h" -#include "base/state_block.h" +#include "base/common/wolf.h" +#include "base/state_block/state_block.h" #include "base/factor/factor_base.h" namespace wolf { diff --git a/include/base/solver_suitesparse/cost_function_base.h b/include/base/solver_suitesparse/cost_function_base.h index 8aae707ae..25d891b95 100644 --- a/include/base/solver_suitesparse/cost_function_base.h +++ b/include/base/solver_suitesparse/cost_function_base.h @@ -8,7 +8,7 @@ #ifndef TRUNK_SRC_SOLVER_COST_FUNCTION_BASE_H_ #define TRUNK_SRC_SOLVER_COST_FUNCTION_BASE_H_ -#include "base/wolf.h" +#include "base/common/wolf.h" #include <Eigen/StdVector> class CostFunctionBase diff --git a/include/base/solver_suitesparse/cost_function_sparse.h b/include/base/solver_suitesparse/cost_function_sparse.h index bdcde3834..3ed0eb5e3 100644 --- a/include/base/solver_suitesparse/cost_function_sparse.h +++ b/include/base/solver_suitesparse/cost_function_sparse.h @@ -2,7 +2,7 @@ #define TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_H_ //wolf includes -#include "base/wolf.h" +#include "base/common/wolf.h" #include "cost_function_sparse_base.h" // CERES JET diff --git a/include/base/solver_suitesparse/cost_function_sparse_base.h b/include/base/solver_suitesparse/cost_function_sparse_base.h index 9aeff876c..d90a0577e 100644 --- a/include/base/solver_suitesparse/cost_function_sparse_base.h +++ b/include/base/solver_suitesparse/cost_function_sparse_base.h @@ -9,7 +9,7 @@ #define TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_BASE_H_ //wolf includes -#include "base/wolf.h" +#include "base/common/wolf.h" #include "cost_function_base.h" // CERES JET diff --git a/include/base/solver_suitesparse/qr_solver.h b/include/base/solver_suitesparse/qr_solver.h index 154b78639..0d7f49ccd 100644 --- a/include/base/solver_suitesparse/qr_solver.h +++ b/include/base/solver_suitesparse/qr_solver.h @@ -13,7 +13,7 @@ #include <ctime> //Wolf includes -#include "base/state_block.h" +#include "base/state_block/state_block.h" #include "../factor_sparse.h" #include "base/factor/factor_odom_2D.h" #include "base/factor/factor_corner_2D.h" diff --git a/include/base/solver_suitesparse/solver_manager.h b/include/base/solver_suitesparse/solver_manager.h index 09c0abe7f..3d1ef2a27 100644 --- a/include/base/solver_suitesparse/solver_manager.h +++ b/include/base/solver_suitesparse/solver_manager.h @@ -3,8 +3,8 @@ //wolf includes #include "base/factor/factor_GPS_2D.h" -#include "base/wolf.h" -#include "base/state_block.h" +#include "base/common/wolf.h" +#include "base/state_block/state_block.h" #include "../state_point.h" #include "../state_complex_angle.h" #include "../state_theta.h" diff --git a/include/base/local_parametrization_angle.h b/include/base/state_block/local_parametrization_angle.h similarity index 95% rename from include/base/local_parametrization_angle.h rename to include/base/state_block/local_parametrization_angle.h index 912237c07..3644c83ec 100644 --- a/include/base/local_parametrization_angle.h +++ b/include/base/state_block/local_parametrization_angle.h @@ -8,8 +8,8 @@ #ifndef LOCAL_PARAMETRIZATION_ANGLE_H_ #define LOCAL_PARAMETRIZATION_ANGLE_H_ -#include "base/local_parametrization_base.h" -#include "base/rotations.h" +#include "base/state_block/local_parametrization_base.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/include/base/local_parametrization_base.h b/include/base/state_block/local_parametrization_base.h similarity index 97% rename from include/base/local_parametrization_base.h rename to include/base/state_block/local_parametrization_base.h index 3b7dcc38d..cbc0cbb13 100644 --- a/include/base/local_parametrization_base.h +++ b/include/base/state_block/local_parametrization_base.h @@ -8,7 +8,7 @@ #ifndef LOCAL_PARAMETRIZATION_BASE_H_ #define LOCAL_PARAMETRIZATION_BASE_H_ -#include "base/wolf.h" +#include "base/common/wolf.h" namespace wolf { diff --git a/include/base/local_parametrization_homogeneous.h b/include/base/state_block/local_parametrization_homogeneous.h similarity index 97% rename from include/base/local_parametrization_homogeneous.h rename to include/base/state_block/local_parametrization_homogeneous.h index f06dd2fb1..cd2076d63 100644 --- a/include/base/local_parametrization_homogeneous.h +++ b/include/base/state_block/local_parametrization_homogeneous.h @@ -8,7 +8,7 @@ #ifndef LOCALPARAMETRIZATIONHOMOGENEOUS_H_ #define LOCALPARAMETRIZATIONHOMOGENEOUS_H_ -#include "base/local_parametrization_base.h" +#include "base/state_block/local_parametrization_base.h" namespace wolf { diff --git a/include/base/local_parametrization_polyline_extreme.h b/include/base/state_block/local_parametrization_polyline_extreme.h similarity index 95% rename from include/base/local_parametrization_polyline_extreme.h rename to include/base/state_block/local_parametrization_polyline_extreme.h index 3a75a8a0f..0e0cc29cd 100644 --- a/include/base/local_parametrization_polyline_extreme.h +++ b/include/base/state_block/local_parametrization_polyline_extreme.h @@ -8,7 +8,7 @@ #ifndef LOCAL_PARAMETRIZATION_POLYLINE_EXTREME_H_ #define LOCAL_PARAMETRIZATION_POLYLINE_EXTREME_H_ -#include "base/local_parametrization_base.h" +#include "base/state_block/local_parametrization_base.h" namespace wolf { diff --git a/include/base/local_parametrization_quaternion.h b/include/base/state_block/local_parametrization_quaternion.h similarity index 97% rename from include/base/local_parametrization_quaternion.h rename to include/base/state_block/local_parametrization_quaternion.h index f92676558..c28a05d49 100644 --- a/include/base/local_parametrization_quaternion.h +++ b/include/base/state_block/local_parametrization_quaternion.h @@ -8,7 +8,7 @@ #ifndef LOCAL_PARAMETRIZATION_QUATERNION_H_ #define LOCAL_PARAMETRIZATION_QUATERNION_H_ -#include "base/local_parametrization_base.h" +#include "base/state_block/local_parametrization_base.h" namespace wolf { diff --git a/include/base/state_angle.h b/include/base/state_block/state_angle.h similarity index 84% rename from include/base/state_angle.h rename to include/base/state_block/state_angle.h index c61286e13..ae5133b32 100644 --- a/include/base/state_angle.h +++ b/include/base/state_block/state_angle.h @@ -8,8 +8,8 @@ #ifndef STATE_ANGLE_H_ #define STATE_ANGLE_H_ -#include "base/state_block.h" -#include "base/local_parametrization_angle.h" +#include "base/state_block/state_block.h" +#include "base/state_block/local_parametrization_angle.h" namespace wolf { diff --git a/include/base/state_block.h b/include/base/state_block/state_block.h similarity index 98% rename from include/base/state_block.h rename to include/base/state_block/state_block.h index 447e8a0e9..86c94d6ce 100644 --- a/include/base/state_block.h +++ b/include/base/state_block/state_block.h @@ -9,7 +9,7 @@ class LocalParametrizationBase; } //Wolf includes -#include "base/wolf.h" +#include "base/common/wolf.h" //std includes #include <iostream> @@ -154,9 +154,9 @@ public: } // namespace wolf // IMPLEMENTATION -#include "base/local_parametrization_base.h" -#include "base/node_base.h" -#include "base/problem.h" +#include "base/state_block/local_parametrization_base.h" +#include "base/common/node_base.h" +#include "base/problem/problem.h" namespace wolf { diff --git a/include/base/state_homogeneous_3D.h b/include/base/state_block/state_homogeneous_3D.h similarity index 91% rename from include/base/state_homogeneous_3D.h rename to include/base/state_block/state_homogeneous_3D.h index adfda9018..369e14f43 100644 --- a/include/base/state_homogeneous_3D.h +++ b/include/base/state_block/state_homogeneous_3D.h @@ -8,8 +8,8 @@ #ifndef SRC_STATE_HOMOGENEOUS_3D_H_ #define SRC_STATE_HOMOGENEOUS_3D_H_ -#include "base/state_block.h" -#include "base/local_parametrization_homogeneous.h" +#include "base/state_block/state_block.h" +#include "base/state_block/local_parametrization_homogeneous.h" namespace wolf { diff --git a/include/base/state_quaternion.h b/include/base/state_block/state_quaternion.h similarity index 92% rename from include/base/state_quaternion.h rename to include/base/state_block/state_quaternion.h index d990ce1f8..f7ad39f2d 100644 --- a/include/base/state_quaternion.h +++ b/include/base/state_block/state_quaternion.h @@ -8,8 +8,8 @@ #ifndef SRC_STATE_QUATERNION_H_ #define SRC_STATE_QUATERNION_H_ -#include "base/state_block.h" -#include "base/local_parametrization_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/local_parametrization_quaternion.h" namespace wolf { diff --git a/include/base/trajectory_base.h b/include/base/trajectory/trajectory_base.h similarity index 96% rename from include/base/trajectory_base.h rename to include/base/trajectory/trajectory_base.h index 6ceddf9e6..37f9762c7 100644 --- a/include/base/trajectory_base.h +++ b/include/base/trajectory/trajectory_base.h @@ -10,8 +10,8 @@ class TimeStamp; } //Wolf includes -#include "base/wolf.h" -#include "base/node_base.h" +#include "base/common/wolf.h" +#include "base/common/node_base.h" //std includes diff --git a/include/base/eigen_assert.h b/include/base/utils/eigen_assert.h similarity index 100% rename from include/base/eigen_assert.h rename to include/base/utils/eigen_assert.h diff --git a/include/base/eigen_predicates.h b/include/base/utils/eigen_predicates.h similarity index 99% rename from include/base/eigen_predicates.h rename to include/base/utils/eigen_predicates.h index 55f2eeeb7..bc0ab9322 100644 --- a/include/base/eigen_predicates.h +++ b/include/base/utils/eigen_predicates.h @@ -8,7 +8,7 @@ #ifndef _WOLF_EIGEN_PREDICATES_H_ #define _WOLF_EIGEN_PREDICATES_H_ -#include "base/rotations.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/include/base/logging.h b/include/base/utils/logging.h similarity index 99% rename from include/base/logging.h rename to include/base/utils/logging.h index 3593fc718..088a82152 100644 --- a/include/base/logging.h +++ b/include/base/utils/logging.h @@ -17,7 +17,7 @@ #include "spdlog/fmt/bundled/ostream.h" // Wolf includes -#include "base/singleton.h" +#include "base/utils/singleton.h" namespace wolf { namespace internal { diff --git a/include/base/make_unique.h b/include/base/utils/make_unique.h similarity index 100% rename from include/base/make_unique.h rename to include/base/utils/make_unique.h diff --git a/include/base/singleton.h b/include/base/utils/singleton.h similarity index 100% rename from include/base/singleton.h rename to include/base/utils/singleton.h diff --git a/serialization/cereal/serialization_local_parametrization_base.h b/serialization/cereal/serialization_local_parametrization_base.h index 0c38a5a61..1385e1af0 100644 --- a/serialization/cereal/serialization_local_parametrization_base.h +++ b/serialization/cereal/serialization_local_parametrization_base.h @@ -1,7 +1,7 @@ #ifndef _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_ #define _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_ -#include "base/local_parametrization_base.h" +#include "base/state_block/local_parametrization_base.h" #include <cereal/cereal.hpp> #include <cereal/types/polymorphic.hpp> diff --git a/src/capture/capture_IMU.cpp b/src/capture/capture_IMU.cpp index 6dbc07d59..8bfc7af04 100644 --- a/src/capture/capture_IMU.cpp +++ b/src/capture/capture_IMU.cpp @@ -1,6 +1,6 @@ #include "base/capture/capture_IMU.h" #include "base/sensor/sensor_IMU.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_quaternion.h" namespace wolf { diff --git a/src/capture/capture_wheel_joint_position.cpp b/src/capture/capture_wheel_joint_position.cpp index 7b11d9c8d..1531820a0 100644 --- a/src/capture/capture_wheel_joint_position.cpp +++ b/src/capture/capture_wheel_joint_position.cpp @@ -1,6 +1,6 @@ #include "base/capture/capture_wheel_joint_position.h" #include "base/sensor/sensor_diff_drive.h" -#include "base/rotations.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp index 829393980..08d05aaa1 100644 --- a/src/ceres_wrapper/ceres_manager.cpp +++ b/src/ceres_wrapper/ceres_manager.cpp @@ -1,9 +1,9 @@ #include "base/ceres_wrapper/ceres_manager.h" #include "base/ceres_wrapper/create_numeric_diff_cost_function.h" -#include "base/trajectory_base.h" -#include "base/map_base.h" +#include "base/trajectory/trajectory_base.h" +#include "base/map/map_base.h" #include "base/landmark/landmark_base.h" -#include "base/make_unique.h" +#include "base/utils/make_unique.h" namespace wolf { diff --git a/src/ceres_wrapper/solver_manager.cpp b/src/ceres_wrapper/solver_manager.cpp index 06ae2d113..72e6e556b 100644 --- a/src/ceres_wrapper/solver_manager.cpp +++ b/src/ceres_wrapper/solver_manager.cpp @@ -1,6 +1,6 @@ #include "base/solver/solver_manager.h" -#include "base/trajectory_base.h" -#include "base/map_base.h" +#include "base/trajectory/trajectory_base.h" +#include "base/map/map_base.h" #include "base/landmark/landmark_base.h" namespace wolf { diff --git a/src/node_base.cpp b/src/common/node_base.cpp similarity index 75% rename from src/node_base.cpp rename to src/common/node_base.cpp index 24cb56c20..882e70a69 100644 --- a/src/node_base.cpp +++ b/src/common/node_base.cpp @@ -1,4 +1,4 @@ -#include "base/node_base.h" +#include "base/common/node_base.h" namespace wolf { diff --git a/src/time_stamp.cpp b/src/common/time_stamp.cpp similarity index 97% rename from src/time_stamp.cpp rename to src/common/time_stamp.cpp index 55d25fc6e..3e84bf846 100644 --- a/src/time_stamp.cpp +++ b/src/common/time_stamp.cpp @@ -1,5 +1,5 @@ -#include "base/time_stamp.h" +#include "base/common/time_stamp.h" namespace wolf { diff --git a/src/examples/solver/test_ccolamd.cpp b/src/examples/solver/test_ccolamd.cpp index 2fae213bc..d9eec5b00 100644 --- a/src/examples/solver/test_ccolamd.cpp +++ b/src/examples/solver/test_ccolamd.cpp @@ -6,7 +6,7 @@ */ // Wolf includes -#include "base/wolf.h" +#include "base/common/wolf.h" //std includes #include <cstdlib> diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/src/examples/solver/test_iQR_wolf2.cpp index 93b39fe65..dc4094304 100644 --- a/src/examples/solver/test_iQR_wolf2.cpp +++ b/src/examples/solver/test_iQR_wolf2.cpp @@ -17,7 +17,7 @@ #include <queue> //Wolf includes -#include "base/state_block.h" +#include "base/state_block/state_block.h" #include "base/factor/factor_base.h" #include "base/sensor/sensor_laser_2D.h" #include "wolf_manager.h" diff --git a/src/examples/test_2_lasers_offline.cpp b/src/examples/test_2_lasers_offline.cpp index 10824d51e..9174dc94f 100644 --- a/src/examples/test_2_lasers_offline.cpp +++ b/src/examples/test_2_lasers_offline.cpp @@ -17,7 +17,7 @@ #include "glog/logging.h" //Wolf includes -#include "base/problem.h" +#include "base/problem/problem.h" #include "base/processor/processor_tracker_landmark_corner.h" #include "base/processor/processor_odom_2D.h" #include "base/sensor/sensor_laser_2D.h" diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp index d4afdc7d0..d12f491de 100644 --- a/src/examples/test_ceres_2_lasers.cpp +++ b/src/examples/test_ceres_2_lasers.cpp @@ -17,7 +17,7 @@ #include "glog/logging.h" //Wolf includes -#include "base/problem.h" +#include "base/problem/problem.h" #include "base/processor/processor_tracker_landmark_corner.h" #include "base/processor/processor_odom_2D.h" #include "base/sensor/sensor_laser_2D.h" diff --git a/src/examples/test_ceres_2_lasers_polylines.cpp b/src/examples/test_ceres_2_lasers_polylines.cpp index 9e9ca5390..136ba285e 100644 --- a/src/examples/test_ceres_2_lasers_polylines.cpp +++ b/src/examples/test_ceres_2_lasers_polylines.cpp @@ -17,7 +17,7 @@ #include "glog/logging.h" //Wolf includes -#include "base/problem.h" +#include "base/problem/problem.h" #include "base/processor/processor_tracker_landmark_polyline.h" #include "base/processor/processor_odom_2D.h" #include "base/sensor/sensor_laser_2D.h" diff --git a/src/examples/test_diff_drive.cpp b/src/examples/test_diff_drive.cpp index 306c7dfdc..23980071f 100644 --- a/src/examples/test_diff_drive.cpp +++ b/src/examples/test_diff_drive.cpp @@ -6,8 +6,8 @@ */ //Wolf -#include "base/wolf.h" -#include "base/problem.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" #include "base/sensor/sensor_diff_drive.h" #include "base/capture/capture_wheel_joint_position.h" #include "base/processor/processor_diff_drive.h" diff --git a/src/examples/test_eigen_quaternion.cpp b/src/examples/test_eigen_quaternion.cpp index 1c01f5e13..d24a715cb 100644 --- a/src/examples/test_eigen_quaternion.cpp +++ b/src/examples/test_eigen_quaternion.cpp @@ -6,7 +6,7 @@ #include <eigen3/Eigen/Geometry> //Wolf -#include "base/wolf.h" +#include "base/common/wolf.h" int main() { diff --git a/src/examples/test_factor_AHP.cpp b/src/examples/test_factor_AHP.cpp index b3938285e..75031dff8 100644 --- a/src/examples/test_factor_AHP.cpp +++ b/src/examples/test_factor_AHP.cpp @@ -1,8 +1,8 @@ -#include "base/pinhole_tools.h" +#include "base/math/pinhole_tools.h" #include "base/landmark/landmark_AHP.h" #include "base/factor/factor_AHP.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" #include "base/sensor/sensor_camera.h" #include "base/capture/capture_image.h" diff --git a/src/examples/test_factor_imu.cpp b/src/examples/test_factor_imu.cpp index 5dde0e16a..3d0483e96 100644 --- a/src/examples/test_factor_imu.cpp +++ b/src/examples/test_factor_imu.cpp @@ -3,11 +3,11 @@ #include "base/processor/processor_IMU.h" #include "base/sensor/sensor_IMU.h" #include "base/capture/capture_pose.h" -#include "base/wolf.h" -#include "base/problem.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" #include "base/factor/factor_odom_3D.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" #include "base/ceres_wrapper/ceres_manager.h" //#define DEBUG_RESULTS diff --git a/src/examples/test_faramotics_simulation.cpp b/src/examples/test_faramotics_simulation.cpp index 621f65186..e095e561d 100644 --- a/src/examples/test_faramotics_simulation.cpp +++ b/src/examples/test_faramotics_simulation.cpp @@ -16,10 +16,10 @@ #include "unistd.h" // wolf -#include "base/wolf.h" +#include "base/common/wolf.h" #include "base/feature/feature_base.h" #include "base/landmark/landmark_base.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" //faramotics includes #include "faramotics/dynamicSceneRender.h" diff --git a/src/examples/test_imuDock.cpp b/src/examples/test_imuDock.cpp index dff0efd51..dab6894d7 100644 --- a/src/examples/test_imuDock.cpp +++ b/src/examples/test_imuDock.cpp @@ -7,8 +7,8 @@ #include "base/processor/processor_IMU.h" #include "base/sensor/sensor_IMU.h" -#include "base/wolf.h" -#include "base/problem.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" #include "base/ceres_wrapper/ceres_manager.h" #include "base/sensor/sensor_odom_3D.h" #include "base/processor/processor_odom_3D.h" diff --git a/src/examples/test_imuDock_autoKFs.cpp b/src/examples/test_imuDock_autoKFs.cpp index 4415b685c..43a54d654 100644 --- a/src/examples/test_imuDock_autoKFs.cpp +++ b/src/examples/test_imuDock_autoKFs.cpp @@ -7,8 +7,8 @@ #include "base/processor/processor_IMU.h" #include "base/sensor/sensor_IMU.h" -#include "base/wolf.h" -#include "base/problem.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" #include "base/ceres_wrapper/ceres_manager.h" #include "base/sensor/sensor_odom_3D.h" #include "base/processor/processor_odom_3D.h" diff --git a/src/examples/test_imuPlateform_Offline.cpp b/src/examples/test_imuPlateform_Offline.cpp index e7ed6a915..4b923de89 100644 --- a/src/examples/test_imuPlateform_Offline.cpp +++ b/src/examples/test_imuPlateform_Offline.cpp @@ -2,12 +2,12 @@ #include "base/capture/capture_IMU.h" #include "base/processor/processor_IMU.h" #include "base/sensor/sensor_IMU.h" -#include "base/wolf.h" -#include "base/problem.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" #include "base/sensor/sensor_odom_3D.h" #include "base/factor/factor_odom_3D.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" #include "base/processor/processor_odom_3D.h" #include "base/ceres_wrapper/ceres_manager.h" diff --git a/src/examples/test_imu_constrained0.cpp b/src/examples/test_imu_constrained0.cpp index f134ccc12..e542e18e0 100644 --- a/src/examples/test_imu_constrained0.cpp +++ b/src/examples/test_imu_constrained0.cpp @@ -2,12 +2,12 @@ #include "base/capture/capture_IMU.h" #include "base/processor/processor_IMU.h" #include "base/sensor/sensor_IMU.h" -#include "base/wolf.h" -#include "base/problem.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" #include "base/sensor/sensor_odom_3D.h" #include "base/factor/factor_odom_3D.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" #include "base/processor/processor_odom_3D.h" #include "base/ceres_wrapper/ceres_manager.h" diff --git a/src/examples/test_map_yaml.cpp b/src/examples/test_map_yaml.cpp index 7dedb1200..2dd5ab64d 100644 --- a/src/examples/test_map_yaml.cpp +++ b/src/examples/test_map_yaml.cpp @@ -5,12 +5,12 @@ * \author: jsola */ -#include "base/wolf.h" -#include "base/problem.h" -#include "base/map_base.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" +#include "base/map/map_base.h" #include "base/landmark/landmark_polyline_2D.h" #include "base/landmark/landmark_AHP.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" #include "base/yaml/yaml_conversion.h" #include <iostream> diff --git a/src/examples/test_mpu.cpp b/src/examples/test_mpu.cpp index 0e397cac3..1fbed214f 100644 --- a/src/examples/test_mpu.cpp +++ b/src/examples/test_mpu.cpp @@ -7,10 +7,10 @@ //Wolf #include "base/capture/capture_IMU.h" -#include "base/wolf.h" -#include "base/problem.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" #include <iostream> #include <fstream> #include <iomanip> diff --git a/src/examples/test_processor_imu.cpp b/src/examples/test_processor_imu.cpp index 7dc68ebd7..33ec4cabb 100644 --- a/src/examples/test_processor_imu.cpp +++ b/src/examples/test_processor_imu.cpp @@ -9,10 +9,10 @@ #include "base/capture/capture_IMU.h" #include "base/processor/processor_IMU.h" #include "base/sensor/sensor_IMU.h" -#include "base/wolf.h" -#include "base/problem.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" #include <iostream> #include <fstream> #include <iomanip> diff --git a/src/examples/test_processor_imu_jacobians.cpp b/src/examples/test_processor_imu_jacobians.cpp index 6cf92cef2..22c797d6d 100644 --- a/src/examples/test_processor_imu_jacobians.cpp +++ b/src/examples/test_processor_imu_jacobians.cpp @@ -9,10 +9,10 @@ #include "base/capture/capture_IMU.h" #include "base/sensor/sensor_IMU.h" #include <test/processor_IMU_UnitTester.h> -#include "base/wolf.h" -#include "base/problem.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" #include <iostream> #include <fstream> #include <iomanip> diff --git a/src/examples/test_processor_odom_3D.cpp b/src/examples/test_processor_odom_3D.cpp index ffeb5ce92..79798150d 100644 --- a/src/examples/test_processor_odom_3D.cpp +++ b/src/examples/test_processor_odom_3D.cpp @@ -6,10 +6,10 @@ */ #include "base/capture/capture_IMU.h" -#include "base/problem.h" +#include "base/problem/problem.h" #include "base/sensor/sensor_odom_2D.h" #include "base/processor/processor_odom_3D.h" -#include "base/map_base.h" +#include "base/map/map_base.h" #include "base/landmark/landmark_base.h" #include "base/ceres_wrapper/ceres_manager.h" diff --git a/src/examples/test_processor_tracker_feature.cpp b/src/examples/test_processor_tracker_feature.cpp index ab22be418..77e2b35e9 100644 --- a/src/examples/test_processor_tracker_feature.cpp +++ b/src/examples/test_processor_tracker_feature.cpp @@ -9,10 +9,10 @@ #include <iostream> //Wolf -#include "base/wolf.h" -#include "base/problem.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" #include "base/sensor/sensor_base.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" #include "base/processor/processor_tracker_feature_dummy.h" #include "base/capture/capture_void.h" diff --git a/src/examples/test_processor_tracker_landmark.cpp b/src/examples/test_processor_tracker_landmark.cpp index 81900c7ef..170222976 100644 --- a/src/examples/test_processor_tracker_landmark.cpp +++ b/src/examples/test_processor_tracker_landmark.cpp @@ -9,10 +9,10 @@ #include <iostream> //Wolf -#include "base/wolf.h" -#include "base/problem.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" #include "base/sensor/sensor_base.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" #include "base/processor/processor_tracker_landmark_dummy.h" #include "base/capture/capture_void.h" diff --git a/src/examples/test_processor_tracker_landmark_image.cpp b/src/examples/test_processor_tracker_landmark_image.cpp index d8b22c18d..be7df536e 100644 --- a/src/examples/test_processor_tracker_landmark_image.cpp +++ b/src/examples/test_processor_tracker_landmark_image.cpp @@ -4,9 +4,9 @@ #include "base/processor/processor_tracker_landmark_image.h" //Wolf -#include "base/wolf.h" -#include "base/problem.h" -#include "base/state_block.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" +#include "base/state_block/state_block.h" #include "base/processor/processor_odom_3D.h" #include "base/sensor/sensor_odom_3D.h" #include "base/sensor/sensor_camera.h" diff --git a/src/examples/test_projection_points.cpp b/src/examples/test_projection_points.cpp index c24e8904e..b9f01912d 100644 --- a/src/examples/test_projection_points.cpp +++ b/src/examples/test_projection_points.cpp @@ -6,7 +6,7 @@ #include <iostream> //wolf includes -#include "base/pinhole_tools.h" +#include "base/math/pinhole_tools.h" int main(int argc, char** argv) { diff --git a/src/examples/test_simple_AHP.cpp b/src/examples/test_simple_AHP.cpp index 142b99808..6bd1805dc 100644 --- a/src/examples/test_simple_AHP.cpp +++ b/src/examples/test_simple_AHP.cpp @@ -5,11 +5,11 @@ * \author: jtarraso */ -#include "base/wolf.h" -#include "base/frame_base.h" -#include "base/pinhole_tools.h" +#include "base/common/wolf.h" +#include "base/frame/frame_base.h" +#include "base/math/pinhole_tools.h" #include "base/sensor/sensor_camera.h" -#include "base/rotations.h" +#include "base/math/rotations.h" #include "base/capture/capture_image.h" #include "base/landmark/landmark_AHP.h" #include "base/factor/factor_AHP.h" diff --git a/src/examples/test_sort_keyframes.cpp b/src/examples/test_sort_keyframes.cpp index e046765f0..56982c9dc 100644 --- a/src/examples/test_sort_keyframes.cpp +++ b/src/examples/test_sort_keyframes.cpp @@ -6,10 +6,10 @@ */ // Wolf includes -#include "base/wolf.h" -#include "base/problem.h" -#include "base/frame_base.h" -#include "base/trajectory_base.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" +#include "base/frame/frame_base.h" +#include "base/trajectory/trajectory_base.h" // STL includes #include <list> diff --git a/src/examples/test_state_quaternion.cpp b/src/examples/test_state_quaternion.cpp index 5885553ed..0fabac44e 100644 --- a/src/examples/test_state_quaternion.cpp +++ b/src/examples/test_state_quaternion.cpp @@ -5,9 +5,9 @@ * \author: jsola */ -#include "base/frame_base.h" -#include "base/state_quaternion.h" -#include "base/time_stamp.h" +#include "base/frame/frame_base.h" +#include "base/state_block/state_quaternion.h" +#include "base/common/time_stamp.h" #include <iostream> diff --git a/src/examples/test_wolf_factories.cpp b/src/examples/test_wolf_factories.cpp index b35d0dc1b..b608bb958 100644 --- a/src/examples/test_wolf_factories.cpp +++ b/src/examples/test_wolf_factories.cpp @@ -7,7 +7,7 @@ #include "base/processor/processor_IMU.h" #include "base/sensor/sensor_GPS_fix.h" -#include "base/hardware_base.h" +#include "base/hardware/hardware_base.h" #include "base/sensor/sensor_camera.h" #include "base/sensor/sensor_odom_2D.h" #include "../sensor_imu.h" @@ -17,9 +17,9 @@ #include "base/processor/processor_odom_3D.h" #include "../processor_image_feature.h" -#include "base/problem.h" +#include "base/problem/problem.h" -#include "base/factory.h" +#include "base/common/factory.h" #include <iostream> #include <iomanip> diff --git a/src/examples/test_wolf_logging.cpp b/src/examples/test_wolf_logging.cpp index b516acd09..3b7bdfab7 100644 --- a/src/examples/test_wolf_logging.cpp +++ b/src/examples/test_wolf_logging.cpp @@ -5,8 +5,8 @@ * \author: Jeremie Deray */ -#include "base/wolf.h" -#include "base/logging.h" +#include "base/common/wolf.h" +#include "base/utils/logging.h" int main(int, char*[]) { diff --git a/src/examples/test_wolf_root.cpp b/src/examples/test_wolf_root.cpp index a2e3ccef5..ff78c97b0 100644 --- a/src/examples/test_wolf_root.cpp +++ b/src/examples/test_wolf_root.cpp @@ -6,7 +6,7 @@ */ //Wolf -#include "base/wolf.h" +#include "base/common/wolf.h" //std #include <iostream> diff --git a/src/examples/test_yaml.cpp b/src/examples/test_yaml.cpp index cfd03d18d..5181d73ac 100644 --- a/src/examples/test_yaml.cpp +++ b/src/examples/test_yaml.cpp @@ -5,10 +5,10 @@ * \author: jsola */ -#include "base/pinhole_tools.h" +#include "base/math/pinhole_tools.h" #include "yaml/yaml_conversion.h" #include "processor_image_feature.h" -#include "base/factory.h" +#include "base/common/factory.h" #include <yaml-cpp/yaml.h> diff --git a/src/factor/factor_analytic.cpp b/src/factor/factor_analytic.cpp index c86bec4aa..7ad85937a 100644 --- a/src/factor/factor_analytic.cpp +++ b/src/factor/factor_analytic.cpp @@ -1,5 +1,5 @@ #include "base/factor/factor_analytic.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" namespace wolf { diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp index e3dc7b1ab..188e873b6 100644 --- a/src/factor/factor_base.cpp +++ b/src/factor/factor_base.cpp @@ -1,5 +1,5 @@ #include "base/factor/factor_base.h" -#include "base/frame_base.h" +#include "base/frame/frame_base.h" #include "base/landmark/landmark_base.h" namespace wolf { diff --git a/src/frame_base.cpp b/src/frame/frame_base.cpp similarity index 97% rename from src/frame_base.cpp rename to src/frame/frame_base.cpp index 32c655152..cb7f089c1 100644 --- a/src/frame_base.cpp +++ b/src/frame/frame_base.cpp @@ -1,11 +1,11 @@ -#include "base/frame_base.h" +#include "base/frame/frame_base.h" #include "base/factor/factor_base.h" -#include "base/trajectory_base.h" +#include "base/trajectory/trajectory_base.h" #include "base/capture/capture_base.h" -#include "base/state_block.h" -#include "base/state_angle.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_angle.h" +#include "base/state_block/state_quaternion.h" namespace wolf { @@ -374,7 +374,7 @@ FrameBasePtr FrameBase::create_POV_3D(const FrameType & _tp, } // namespace wolf -#include "base/factory.h" +#include "base/common/factory.h" namespace wolf { namespace{ const bool WOLF_UNUSED Frame_PO_2D_Registered = FrameFactory::get().registerCreator("PO 2D", FrameBase::create_PO_2D ); } diff --git a/src/hardware_base.cpp b/src/hardware/hardware_base.cpp similarity index 93% rename from src/hardware_base.cpp rename to src/hardware/hardware_base.cpp index 945b412c8..69b23c34c 100644 --- a/src/hardware_base.cpp +++ b/src/hardware/hardware_base.cpp @@ -1,4 +1,4 @@ -#include "base/hardware_base.h" +#include "base/hardware/hardware_base.h" #include "base/sensor/sensor_base.h" namespace wolf { diff --git a/src/landmark/landmark_AHP.cpp b/src/landmark/landmark_AHP.cpp index 1daa37470..4fde7a42c 100644 --- a/src/landmark/landmark_AHP.cpp +++ b/src/landmark/landmark_AHP.cpp @@ -1,7 +1,7 @@ #include "base/landmark/landmark_AHP.h" -#include "base/state_homogeneous_3D.h" -#include "base/factory.h" +#include "base/state_block/state_homogeneous_3D.h" +#include "base/common/factory.h" #include "base/yaml/yaml_conversion.h" namespace wolf { diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp index 705cb97b4..4b3e4a8a2 100644 --- a/src/landmark/landmark_base.cpp +++ b/src/landmark/landmark_base.cpp @@ -1,8 +1,8 @@ #include "base/landmark/landmark_base.h" #include "base/factor/factor_base.h" -#include "base/map_base.h" -#include "base/state_block.h" +#include "base/map/map_base.h" +#include "base/state_block/state_block.h" #include "base/yaml/yaml_conversion.h" namespace wolf { diff --git a/src/landmark/landmark_container.cpp b/src/landmark/landmark_container.cpp index 3a424869b..3a043fd7d 100644 --- a/src/landmark/landmark_container.cpp +++ b/src/landmark/landmark_container.cpp @@ -1,6 +1,6 @@ #include "base/landmark/landmark_container.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" namespace wolf { diff --git a/src/landmark/landmark_polyline_2D.cpp b/src/landmark/landmark_polyline_2D.cpp index d7c5c7d76..bbe0747e0 100644 --- a/src/landmark/landmark_polyline_2D.cpp +++ b/src/landmark/landmark_polyline_2D.cpp @@ -7,11 +7,11 @@ #include "base/feature/feature_polyline_2D.h" #include "base/landmark/landmark_polyline_2D.h" -#include "base/local_parametrization_polyline_extreme.h" +#include "base/state_block/local_parametrization_polyline_extreme.h" #include "base/factor/factor_point_2D.h" #include "base/factor/factor_point_to_line_2D.h" -#include "base/state_block.h" -#include "base/factory.h" +#include "base/state_block/state_block.h" +#include "base/common/factory.h" #include "base/yaml/yaml_conversion.h" namespace wolf diff --git a/src/map_base.cpp b/src/map/map_base.cpp similarity index 97% rename from src/map_base.cpp rename to src/map/map_base.cpp index d1ad03121..d7d7a1dad 100644 --- a/src/map_base.cpp +++ b/src/map/map_base.cpp @@ -1,8 +1,8 @@ // wolf -#include "base/map_base.h" +#include "base/map/map_base.h" #include "base/landmark/landmark_base.h" -#include "base/factory.h" +#include "base/common/factory.h" // YAML #include <yaml-cpp/yaml.h> diff --git a/src/problem.cpp b/src/problem/problem.cpp similarity index 99% rename from src/problem.cpp rename to src/problem/problem.cpp index 4fe1df930..a97f935f2 100644 --- a/src/problem.cpp +++ b/src/problem/problem.cpp @@ -1,8 +1,8 @@ // wolf includes -#include "base/problem.h" -#include "base/hardware_base.h" -#include "base/trajectory_base.h" -#include "base/map_base.h" +#include "base/problem/problem.h" +#include "base/hardware/hardware_base.h" +#include "base/trajectory/trajectory_base.h" +#include "base/map/map_base.h" #include "base/sensor/sensor_base.h" #include "base/processor/processor_motion.h" #include "base/processor/processor_tracker.h" @@ -10,7 +10,7 @@ #include "base/factor/factor_base.h" #include "base/sensor/sensor_factory.h" #include "base/processor/processor_factory.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" // IRI libs includes diff --git a/src/motion_buffer.cpp b/src/processor/motion_buffer.cpp similarity index 99% rename from src/motion_buffer.cpp rename to src/processor/motion_buffer.cpp index 20d4fc260..2828ad4d0 100644 --- a/src/motion_buffer.cpp +++ b/src/processor/motion_buffer.cpp @@ -1,4 +1,4 @@ -#include "base/motion_buffer.h" +#include "base/processor/motion_buffer.h" namespace wolf { diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp index 82fa41c13..067990916 100644 --- a/src/processor/processor_base.cpp +++ b/src/processor/processor_base.cpp @@ -1,7 +1,7 @@ #include "base/processor/processor_base.h" #include "base/processor/processor_motion.h" #include "base/capture/capture_base.h" -#include "base/frame_base.h" +#include "base/frame/frame_base.h" namespace wolf { diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp index 4e307962e..881ebedec 100644 --- a/src/processor/processor_diff_drive.cpp +++ b/src/processor/processor_diff_drive.cpp @@ -5,7 +5,7 @@ #include "base/capture/capture_wheel_joint_position.h" #include "base/capture/capture_velocity.h" -#include "base/rotations.h" +#include "base/math/rotations.h" #include "base/factor/factor_odom_2D.h" #include "base/feature/feature_diff_drive.h" diff --git a/src/processor/processor_tracker_landmark.cpp b/src/processor/processor_tracker_landmark.cpp index 8516719fe..c03d8712f 100644 --- a/src/processor/processor_tracker_landmark.cpp +++ b/src/processor/processor_tracker_landmark.cpp @@ -6,7 +6,7 @@ */ #include "base/processor/processor_tracker_landmark.h" -#include "base/map_base.h" +#include "base/map/map_base.h" #include <utility> diff --git a/src/processor/processor_tracker_landmark_corner.cpp b/src/processor/processor_tracker_landmark_corner.cpp index c3cac8003..884f867c7 100644 --- a/src/processor/processor_tracker_landmark_corner.cpp +++ b/src/processor/processor_tracker_landmark_corner.cpp @@ -1,5 +1,5 @@ #include "base/processor/processor_tracker_landmark_corner.h" -#include "base/rotations.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/src/processor/processor_tracker_landmark_image.cpp b/src/processor/processor_tracker_landmark_image.cpp index 6d6ca0cf2..515daff2a 100644 --- a/src/processor/processor_tracker_landmark_image.cpp +++ b/src/processor/processor_tracker_landmark_image.cpp @@ -4,14 +4,14 @@ #include "base/factor/factor_AHP.h" #include "base/feature/feature_base.h" #include "base/feature/feature_point_image.h" -#include "base/frame_base.h" -#include "base/logging.h" -#include "base/map_base.h" -#include "base/pinhole_tools.h" -#include "base/problem.h" +#include "base/frame/frame_base.h" +#include "base/utils/logging.h" +#include "base/map/map_base.h" +#include "base/math/pinhole_tools.h" +#include "base/problem/problem.h" #include "base/sensor/sensor_camera.h" -#include "base/state_block.h" -#include "base/time_stamp.h" +#include "base/state_block/state_block.h" +#include "base/common/time_stamp.h" // vision_utils #include <detectors.h> diff --git a/src/track_matrix.cpp b/src/processor/track_matrix.cpp similarity index 99% rename from src/track_matrix.cpp rename to src/processor/track_matrix.cpp index 50ab80891..8db44ce4a 100644 --- a/src/track_matrix.cpp +++ b/src/processor/track_matrix.cpp @@ -5,7 +5,7 @@ * \author: jsola */ -#include "base/track_matrix.h" +#include "base/processor/track_matrix.h" namespace wolf { diff --git a/src/sensor/sensor_GPS.cpp b/src/sensor/sensor_GPS.cpp index 323616be9..f6c1eace8 100644 --- a/src/sensor/sensor_GPS.cpp +++ b/src/sensor/sensor_GPS.cpp @@ -1,7 +1,7 @@ #include "base/sensor/sensor_GPS.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" namespace wolf { diff --git a/src/sensor/sensor_GPS_fix.cpp b/src/sensor/sensor_GPS_fix.cpp index c69f99b6a..3c781095f 100644 --- a/src/sensor/sensor_GPS_fix.cpp +++ b/src/sensor/sensor_GPS_fix.cpp @@ -1,6 +1,6 @@ #include "base/sensor/sensor_GPS_fix.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" namespace wolf { diff --git a/src/sensor/sensor_IMU.cpp b/src/sensor/sensor_IMU.cpp index f97edf645..d5b684163 100644 --- a/src/sensor/sensor_IMU.cpp +++ b/src/sensor/sensor_IMU.cpp @@ -1,6 +1,6 @@ #include "base/sensor/sensor_IMU.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" namespace wolf { diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp index a30f777fc..209dc12e0 100644 --- a/src/sensor/sensor_base.cpp +++ b/src/sensor/sensor_base.cpp @@ -1,6 +1,6 @@ #include "base/sensor/sensor_base.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" #include "base/factor/factor_block_absolute.h" #include "base/factor/factor_quaternion_absolute.h" diff --git a/src/sensor/sensor_camera.cpp b/src/sensor/sensor_camera.cpp index 54c08c69f..cc9615cf6 100644 --- a/src/sensor/sensor_camera.cpp +++ b/src/sensor/sensor_camera.cpp @@ -1,8 +1,8 @@ #include "base/sensor/sensor_camera.h" -#include "base/pinhole_tools.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/math/pinhole_tools.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" namespace wolf { diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp index d5fdb9e5e..43894b7d6 100644 --- a/src/sensor/sensor_diff_drive.cpp +++ b/src/sensor/sensor_diff_drive.cpp @@ -1,7 +1,7 @@ #include "base/sensor/sensor_diff_drive.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" #include "base/capture/capture_motion.h" -#include "base/eigen_assert.h" +#include "base/utils/eigen_assert.h" namespace wolf { diff --git a/src/sensor/sensor_laser_2D.cpp b/src/sensor/sensor_laser_2D.cpp index a7a5677af..5c8b72ae3 100644 --- a/src/sensor/sensor_laser_2D.cpp +++ b/src/sensor/sensor_laser_2D.cpp @@ -1,5 +1,5 @@ #include "base/sensor/sensor_laser_2D.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" namespace wolf { diff --git a/src/sensor/sensor_odom_2D.cpp b/src/sensor/sensor_odom_2D.cpp index c698db52f..dc3772d7b 100644 --- a/src/sensor/sensor_odom_2D.cpp +++ b/src/sensor/sensor_odom_2D.cpp @@ -1,6 +1,6 @@ #include "base/sensor/sensor_odom_2D.h" -#include "base/state_block.h" -#include "base/state_angle.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_angle.h" namespace wolf { diff --git a/src/sensor/sensor_odom_3D.cpp b/src/sensor/sensor_odom_3D.cpp index 0a5c2d796..5a3736d5e 100644 --- a/src/sensor/sensor_odom_3D.cpp +++ b/src/sensor/sensor_odom_3D.cpp @@ -7,8 +7,8 @@ #include "base/sensor/sensor_odom_3D.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" namespace wolf { diff --git a/src/solver/solver_manager.cpp b/src/solver/solver_manager.cpp index 493bc9dcd..adc0dabd9 100644 --- a/src/solver/solver_manager.cpp +++ b/src/solver/solver_manager.cpp @@ -1,6 +1,6 @@ #include "base/solver/solver_manager.h" -#include "base/trajectory_base.h" -#include "base/map_base.h" +#include "base/trajectory/trajectory_base.h" +#include "base/map/map_base.h" #include "base/landmark/landmark_base.h" namespace wolf { diff --git a/src/local_parametrization_base.cpp b/src/state_block/local_parametrization_base.cpp similarity index 88% rename from src/local_parametrization_base.cpp rename to src/state_block/local_parametrization_base.cpp index e2bc1cf4e..485b3171b 100644 --- a/src/local_parametrization_base.cpp +++ b/src/state_block/local_parametrization_base.cpp @@ -1,4 +1,4 @@ -#include "base/local_parametrization_base.h" +#include "base/state_block/local_parametrization_base.h" namespace wolf { diff --git a/src/local_parametrization_homogeneous.cpp b/src/state_block/local_parametrization_homogeneous.cpp similarity index 93% rename from src/local_parametrization_homogeneous.cpp rename to src/state_block/local_parametrization_homogeneous.cpp index 14abaecd1..b8982f890 100644 --- a/src/local_parametrization_homogeneous.cpp +++ b/src/state_block/local_parametrization_homogeneous.cpp @@ -5,9 +5,9 @@ * Author: jsola */ -#include "base/local_parametrization_homogeneous.h" +#include "base/state_block/local_parametrization_homogeneous.h" #include "iostream" -#include "base/rotations.h" // we use quaternion algebra here +#include "base/math/rotations.h" // we use quaternion algebra here namespace wolf { diff --git a/src/local_parametrization_polyline_extreme.cpp b/src/state_block/local_parametrization_polyline_extreme.cpp similarity index 93% rename from src/local_parametrization_polyline_extreme.cpp rename to src/state_block/local_parametrization_polyline_extreme.cpp index da318cafb..803c85b4f 100644 --- a/src/local_parametrization_polyline_extreme.cpp +++ b/src/state_block/local_parametrization_polyline_extreme.cpp @@ -1,6 +1,6 @@ -#include "base/local_parametrization_polyline_extreme.h" -#include "base/state_block.h" -#include "base/rotations.h" +#include "base/state_block/local_parametrization_polyline_extreme.h" +#include "base/state_block/state_block.h" +#include "base/math/rotations.h" namespace wolf { diff --git a/src/local_parametrization_quaternion.cpp b/src/state_block/local_parametrization_quaternion.cpp similarity index 97% rename from src/local_parametrization_quaternion.cpp rename to src/state_block/local_parametrization_quaternion.cpp index d2af8f544..1c2655f88 100644 --- a/src/local_parametrization_quaternion.cpp +++ b/src/state_block/local_parametrization_quaternion.cpp @@ -1,6 +1,6 @@ -#include "base/local_parametrization_quaternion.h" -#include "base/rotations.h" +#include "base/state_block/local_parametrization_quaternion.h" +#include "base/math/rotations.h" #include <iostream> namespace wolf { diff --git a/src/state_block.cpp b/src/state_block/state_block.cpp similarity index 94% rename from src/state_block.cpp rename to src/state_block/state_block.cpp index b4427c2aa..96df91772 100644 --- a/src/state_block.cpp +++ b/src/state_block/state_block.cpp @@ -1,4 +1,4 @@ -#include "base/state_block.h" +#include "base/state_block/state_block.h" namespace wolf { diff --git a/src/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp similarity index 97% rename from src/trajectory_base.cpp rename to src/trajectory/trajectory_base.cpp index 5820b99ba..086afab73 100644 --- a/src/trajectory_base.cpp +++ b/src/trajectory/trajectory_base.cpp @@ -1,5 +1,5 @@ -#include "base/trajectory_base.h" -#include "base/frame_base.h" +#include "base/trajectory/trajectory_base.h" +#include "base/frame/frame_base.h" namespace wolf { diff --git a/src/yaml/processor_IMU_yaml.cpp b/src/yaml/processor_IMU_yaml.cpp index 2cfc70f46..5b3f12ac6 100644 --- a/src/yaml/processor_IMU_yaml.cpp +++ b/src/yaml/processor_IMU_yaml.cpp @@ -10,7 +10,7 @@ #include "base/yaml/yaml_conversion.h" // wolf -#include "base/factory.h" +#include "base/common/factory.h" // yaml-cpp library #include <yaml-cpp/yaml.h> diff --git a/src/yaml/processor_image_yaml.cpp b/src/yaml/processor_image_yaml.cpp index a02d44208..47e0a32e2 100644 --- a/src/yaml/processor_image_yaml.cpp +++ b/src/yaml/processor_image_yaml.cpp @@ -9,7 +9,7 @@ #include "base/yaml/yaml_conversion.h" // wolf -#include "base/factory.h" +#include "base/common/factory.h" // yaml-cpp library #include <yaml-cpp/yaml.h> diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp index 5c2172ea9..c63e3d9b5 100644 --- a/src/yaml/processor_odom_3D_yaml.cpp +++ b/src/yaml/processor_odom_3D_yaml.cpp @@ -10,7 +10,7 @@ // wolf #include "base/processor/processor_odom_3D.h" -#include "base/factory.h" +#include "base/common/factory.h" // yaml-cpp library #include <yaml-cpp/yaml.h> diff --git a/src/yaml/processor_tracker_feature_trifocal_yaml.cpp b/src/yaml/processor_tracker_feature_trifocal_yaml.cpp index a3f9362b5..0af63b582 100644 --- a/src/yaml/processor_tracker_feature_trifocal_yaml.cpp +++ b/src/yaml/processor_tracker_feature_trifocal_yaml.cpp @@ -10,7 +10,7 @@ #include "base/yaml/yaml_conversion.h" // wolf -#include "base/factory.h" +#include "base/common/factory.h" // yaml-cpp library #include <yaml-cpp/yaml.h> diff --git a/src/yaml/sensor_IMU_yaml.cpp b/src/yaml/sensor_IMU_yaml.cpp index cc3dbb649..79cf183cd 100644 --- a/src/yaml/sensor_IMU_yaml.cpp +++ b/src/yaml/sensor_IMU_yaml.cpp @@ -10,7 +10,7 @@ #include "base/yaml/yaml_conversion.h" // wolf -#include "base/factory.h" +#include "base/common/factory.h" // yaml-cpp library #include <yaml-cpp/yaml.h> diff --git a/src/yaml/sensor_camera_yaml.cpp b/src/yaml/sensor_camera_yaml.cpp index 5e5e3df19..2b4bfc4d8 100644 --- a/src/yaml/sensor_camera_yaml.cpp +++ b/src/yaml/sensor_camera_yaml.cpp @@ -10,7 +10,7 @@ // wolf #include "base/sensor/sensor_camera.h" -#include "base/factory.h" +#include "base/common/factory.h" // yaml-cpp library #include <yaml-cpp/yaml.h> diff --git a/src/yaml/sensor_laser_2D_yaml.cpp b/src/yaml/sensor_laser_2D_yaml.cpp index e687c1446..bd553d20d 100644 --- a/src/yaml/sensor_laser_2D_yaml.cpp +++ b/src/yaml/sensor_laser_2D_yaml.cpp @@ -10,7 +10,7 @@ // wolf //#include "base/intrinsics_factory.h" -#include "base/factory.h" +#include "base/common/factory.h" #include "base/sensor/sensor_laser_2D.h" // yaml library diff --git a/src/yaml/sensor_odom_3D_yaml.cpp b/src/yaml/sensor_odom_3D_yaml.cpp index 63a7baa2c..d4e90dd83 100644 --- a/src/yaml/sensor_odom_3D_yaml.cpp +++ b/src/yaml/sensor_odom_3D_yaml.cpp @@ -10,7 +10,7 @@ // wolf #include "base/sensor/sensor_odom_3D.h" -#include "base/factory.h" +#include "base/common/factory.h" // yaml-cpp library #include <yaml-cpp/yaml.h> diff --git a/test/gtest_IMU.cpp b/test/gtest_IMU.cpp index 7487eb2fe..d2657e415 100644 --- a/test/gtest_IMU.cpp +++ b/test/gtest_IMU.cpp @@ -8,13 +8,13 @@ //Wolf #include "base/processor/processor_IMU.h" #include "base/sensor/sensor_IMU.h" -#include "base/wolf.h" +#include "base/common/wolf.h" #include "base/sensor/sensor_odom_3D.h" #include "base/processor/processor_odom_3D.h" #include "base/ceres_wrapper/ceres_manager.h" #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" // make my life easier using namespace Eigen; diff --git a/test/gtest_SE3.cpp b/test/gtest_SE3.cpp index d6e3b9b1c..002aa206b 100644 --- a/test/gtest_SE3.cpp +++ b/test/gtest_SE3.cpp @@ -6,7 +6,7 @@ */ -#include "base/SE3.h" +#include "base/math/SE3.h" #include "utils_gtest.h" diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp index 71217c8e6..3d6bcb3ae 100644 --- a/test/gtest_capture_base.cpp +++ b/test/gtest_capture_base.cpp @@ -8,7 +8,7 @@ #include "utils_gtest.h" #include "base/capture/capture_base.h" -#include "base/state_angle.h" +#include "base/state_block/state_angle.h" using namespace wolf; using namespace Eigen; diff --git a/test/gtest_ceres_manager.cpp b/test/gtest_ceres_manager.cpp index cbe91a6fd..78492ae19 100644 --- a/test/gtest_ceres_manager.cpp +++ b/test/gtest_ceres_manager.cpp @@ -6,18 +6,18 @@ */ #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" -#include "base/problem.h" +#include "base/problem/problem.h" #include "base/sensor/sensor_base.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" #include "base/capture/capture_void.h" #include "base/factor/factor_pose_2D.h" #include "base/factor/factor_quaternion_absolute.h" #include "base/solver/solver_manager.h" #include "base/ceres_wrapper/ceres_manager.h" -#include "base/local_parametrization_angle.h" -#include "base/local_parametrization_quaternion.h" +#include "base/state_block/local_parametrization_angle.h" +#include "base/state_block/local_parametrization_quaternion.h" #include "ceres/ceres.h" diff --git a/test/gtest_eigen_predicates.cpp b/test/gtest_eigen_predicates.cpp index 649ba85e9..b3c301049 100644 --- a/test/gtest_eigen_predicates.cpp +++ b/test/gtest_eigen_predicates.cpp @@ -1,6 +1,6 @@ #include "utils_gtest.h" -#include "base/eigen_predicates.h" +#include "base/utils/eigen_predicates.h" TEST(TestEigenPredicates, TestEigenDynPredZero) { diff --git a/test/gtest_factor_IMU.cpp b/test/gtest_factor_IMU.cpp index 6c8990c29..e9692a62c 100644 --- a/test/gtest_factor_IMU.cpp +++ b/test/gtest_factor_IMU.cpp @@ -14,7 +14,7 @@ #include "ceres_wrapper/ceres_manager.h" #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" #include <iostream> #include <fstream> diff --git a/test/gtest_factor_autodiff_distance_3D.cpp b/test/gtest_factor_autodiff_distance_3D.cpp index 7559bfa75..21c7c912f 100644 --- a/test/gtest_factor_autodiff_distance_3D.cpp +++ b/test/gtest_factor_autodiff_distance_3D.cpp @@ -6,10 +6,10 @@ */ #include "base/factor/factor_autodiff_distance_3D.h" -#include "base/problem.h" -#include "base/logging.h" +#include "base/problem/problem.h" +#include "base/utils/logging.h" #include "base/ceres_wrapper/ceres_manager.h" -#include "base/rotations.h" +#include "base/math/rotations.h" #include "utils_gtest.h" diff --git a/test/gtest_factor_autodiff_trifocal.cpp b/test/gtest_factor_autodiff_trifocal.cpp index 71401381f..98af13f6e 100644 --- a/test/gtest_factor_autodiff_trifocal.cpp +++ b/test/gtest_factor_autodiff_trifocal.cpp @@ -1,6 +1,6 @@ #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" #include "base/ceres_wrapper/ceres_manager.h" #include "base/processor/processor_tracker_feature_trifocal.h" diff --git a/test/gtest_feature_IMU.cpp b/test/gtest_feature_IMU.cpp index 82828c6c2..082e438d0 100644 --- a/test/gtest_feature_IMU.cpp +++ b/test/gtest_feature_IMU.cpp @@ -2,12 +2,12 @@ #include "base/capture/capture_IMU.h" #include "base/processor/processor_IMU.h" #include "base/sensor/sensor_IMU.h" -#include "base/wolf.h" -#include "base/problem.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" class FeatureIMU_test : public testing::Test { diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp index 06436282a..9b4c7b6cf 100644 --- a/test/gtest_frame_base.cpp +++ b/test/gtest_frame_base.cpp @@ -6,9 +6,9 @@ */ #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" -#include "base/frame_base.h" +#include "base/frame/frame_base.h" #include "base/sensor/sensor_odom_2D.h" #include "base/processor/processor_odom_2D.h" #include "base/factor/factor_odom_2D.h" @@ -129,7 +129,7 @@ TEST(FrameBase, LinksToTree) ASSERT_TRUE(F1->getCaptureList().empty()); } -#include "base/state_quaternion.h" +#include "base/state_block/state_quaternion.h" TEST(FrameBase, GetSetState) { // Create PQV_3D state blocks diff --git a/test/gtest_local_param.cpp b/test/gtest_local_param.cpp index 42e01489e..45d570671 100644 --- a/test/gtest_local_param.cpp +++ b/test/gtest_local_param.cpp @@ -6,13 +6,13 @@ */ #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" -#include "base/local_parametrization_quaternion.h" -#include "base/local_parametrization_homogeneous.h" -#include "base/rotations.h" +#include "base/state_block/local_parametrization_quaternion.h" +#include "base/state_block/local_parametrization_homogeneous.h" +#include "base/math/rotations.h" -#include "base/wolf.h" +#include "base/common/wolf.h" #include <iostream> diff --git a/test/gtest_make_posdef.cpp b/test/gtest_make_posdef.cpp index 1dfcce935..06f9fd20e 100644 --- a/test/gtest_make_posdef.cpp +++ b/test/gtest_make_posdef.cpp @@ -1,5 +1,5 @@ #include "utils_gtest.h" -#include "base/wolf.h" +#include "base/common/wolf.h" using namespace Eigen; using namespace wolf; diff --git a/test/gtest_motion_buffer.cpp b/test/gtest_motion_buffer.cpp index 6d0301692..6aee437dc 100644 --- a/test/gtest_motion_buffer.cpp +++ b/test/gtest_motion_buffer.cpp @@ -6,11 +6,11 @@ */ #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" -#include "base/motion_buffer.h" +#include "base/processor/motion_buffer.h" -#include "base/wolf.h" +#include "base/common/wolf.h" #include <iostream> diff --git a/test/gtest_odom_2D.cpp b/test/gtest_odom_2D.cpp index df5d418e0..2aa224b31 100644 --- a/test/gtest_odom_2D.cpp +++ b/test/gtest_odom_2D.cpp @@ -13,8 +13,8 @@ // Wolf includes #include "base/sensor/sensor_odom_2D.h" -#include "base/state_block.h" -#include "base/wolf.h" +#include "base/state_block/state_block.h" +#include "base/common/wolf.h" #include "base/ceres_wrapper/ceres_manager.h" // STL includes diff --git a/test/gtest_odom_3D.cpp b/test/gtest_odom_3D.cpp index ab4f82bb1..34cb26dc3 100644 --- a/test/gtest_odom_3D.cpp +++ b/test/gtest_odom_3D.cpp @@ -7,8 +7,8 @@ #include "utils_gtest.h" -#include "base/wolf.h" -#include "base/logging.h" +#include "base/common/wolf.h" +#include "base/utils/logging.h" #include "base/processor/processor_odom_3D.h" diff --git a/test/gtest_pack_KF_buffer.cpp b/test/gtest_pack_KF_buffer.cpp index 8f68a5bd5..d4ed20575 100644 --- a/test/gtest_pack_KF_buffer.cpp +++ b/test/gtest_pack_KF_buffer.cpp @@ -13,7 +13,7 @@ #include "base/processor/processor_tracker_feature_dummy.h" #include "base/capture/capture_void.h" -#include "base/problem.h" +#include "base/problem/problem.h" // STL #include <iterator> diff --git a/test/gtest_param_prior.cpp b/test/gtest_param_prior.cpp index e39c87088..79f7aff49 100644 --- a/test/gtest_param_prior.cpp +++ b/test/gtest_param_prior.cpp @@ -6,9 +6,9 @@ */ #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" -#include "base/problem.h" +#include "base/problem/problem.h" #include "base/ceres_wrapper/ceres_manager.h" #include "base/sensor/sensor_odom_3D.h" diff --git a/test/gtest_pinhole.cpp b/test/gtest_pinhole.cpp index fb36c6d12..378757f09 100644 --- a/test/gtest_pinhole.cpp +++ b/test/gtest_pinhole.cpp @@ -5,7 +5,7 @@ * Author: jsola */ -#include "base/pinhole_tools.h" +#include "base/math/pinhole_tools.h" #include "utils_gtest.h" using namespace Eigen; diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp index e7a1d6a32..2c5102882 100644 --- a/test/gtest_problem.cpp +++ b/test/gtest_problem.cpp @@ -6,9 +6,9 @@ */ #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" -#include "base/problem.h" +#include "base/problem/problem.h" #include "base/sensor/sensor_base.h" #include "base/sensor/sensor_odom_3D.h" #include "base/processor/processor_odom_3D.h" diff --git a/test/gtest_processor_IMU.cpp b/test/gtest_processor_IMU.cpp index 8a966f77b..822fc5b81 100644 --- a/test/gtest_processor_IMU.cpp +++ b/test/gtest_processor_IMU.cpp @@ -8,12 +8,12 @@ #include "base/capture/capture_IMU.h" #include "base/processor/processor_IMU.h" #include "base/sensor/sensor_IMU.h" -#include "base/wolf.h" +#include "base/common/wolf.h" #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" -#include "base/rotations.h" +#include "base/math/rotations.h" #include "base/ceres_wrapper/ceres_manager.h" #include <cmath> diff --git a/test/gtest_processor_IMU_jacobians.cpp b/test/gtest_processor_IMU_jacobians.cpp index 1e3b0940c..627549043 100644 --- a/test/gtest_processor_IMU_jacobians.cpp +++ b/test/gtest_processor_IMU_jacobians.cpp @@ -9,10 +9,10 @@ #include "base/capture/capture_IMU.h" #include "base/sensor/sensor_IMU.h" #include "test/processor_IMU_UnitTester.h" -#include "base/wolf.h" -#include "base/problem.h" -#include "base/state_block.h" -#include "base/state_quaternion.h" +#include "base/common/wolf.h" +#include "base/problem/problem.h" +#include "base/state_block/state_block.h" +#include "base/state_block/state_quaternion.h" #include <iostream> #include <fstream> #include <iomanip> diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp index 7479ca984..904dfd764 100644 --- a/test/gtest_processor_base.cpp +++ b/test/gtest_processor_base.cpp @@ -14,7 +14,7 @@ #include "base/processor/processor_tracker_feature_dummy.h" #include "base/capture/capture_void.h" -#include "base/problem.h" +#include "base/problem/problem.h" // STL #include <iterator> diff --git a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp index 425f6a96b..cfbdd69e0 100644 --- a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp +++ b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp @@ -7,7 +7,7 @@ */ #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" #include "base/sensor/sensor_odom_2D.h" #include "base/processor/processor_frame_nearest_neighbor_filter.h" diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp index 205c79f9d..0a02d13a1 100644 --- a/test/gtest_processor_motion.cpp +++ b/test/gtest_processor_motion.cpp @@ -7,8 +7,8 @@ #include "utils_gtest.h" -#include "base/wolf.h" -#include "base/logging.h" +#include "base/common/wolf.h" +#include "base/utils/logging.h" #include "base/sensor/sensor_odom_2D.h" #include "base/processor/processor_odom_2D.h" diff --git a/test/gtest_processor_tracker_feature_trifocal.cpp b/test/gtest_processor_tracker_feature_trifocal.cpp index 6819cba18..d7b13f0c4 100644 --- a/test/gtest_processor_tracker_feature_trifocal.cpp +++ b/test/gtest_processor_tracker_feature_trifocal.cpp @@ -1,7 +1,7 @@ #include "utils_gtest.h" -#include "base/wolf.h" -#include "base/logging.h" +#include "base/common/wolf.h" +#include "base/utils/logging.h" #include "vision_utils.h" diff --git a/test/gtest_rotation.cpp b/test/gtest_rotation.cpp index 5d656eda2..fb4583063 100644 --- a/test/gtest_rotation.cpp +++ b/test/gtest_rotation.cpp @@ -9,8 +9,8 @@ #include <Eigen/Geometry> //Wolf -#include "base/wolf.h" -#include "base/rotations.h" +#include "base/common/wolf.h" +#include "base/math/rotations.h" //std #include <iostream> diff --git a/test/gtest_shared_from_this.cpp b/test/gtest_shared_from_this.cpp index cebdce1f8..9c9055ff5 100644 --- a/test/gtest_shared_from_this.cpp +++ b/test/gtest_shared_from_this.cpp @@ -1,5 +1,5 @@ #include "utils_gtest.h" -#include "base/node_base.h" +#include "base/common/node_base.h" class CChildBase; diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp index 04c7e6d7a..be68ea5ec 100644 --- a/test/gtest_solver_manager.cpp +++ b/test/gtest_solver_manager.cpp @@ -6,16 +6,16 @@ */ #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" -#include "base/problem.h" +#include "base/problem/problem.h" #include "base/sensor/sensor_base.h" -#include "base/state_block.h" +#include "base/state_block/state_block.h" #include "base/capture/capture_void.h" #include "base/factor/factor_pose_2D.h" #include "base/solver/solver_manager.h" -#include "base/local_parametrization_base.h" -#include "base/local_parametrization_angle.h" +#include "base/state_block/local_parametrization_base.h" +#include "base/state_block/local_parametrization_angle.h" #include <iostream> diff --git a/test/gtest_time_stamp.cpp b/test/gtest_time_stamp.cpp index aad321781..a8389ce8b 100644 --- a/test/gtest_time_stamp.cpp +++ b/test/gtest_time_stamp.cpp @@ -1,5 +1,5 @@ #include "utils_gtest.h" -#include "base/time_stamp.h" +#include "base/common/time_stamp.h" #include <thread> diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp index e3d533a5f..99d47c9c3 100644 --- a/test/gtest_track_matrix.cpp +++ b/test/gtest_track_matrix.cpp @@ -7,7 +7,7 @@ #include "utils_gtest.h" -#include "base/track_matrix.h" +#include "base/processor/track_matrix.h" using namespace wolf; diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp index d77defcbc..e74519b58 100644 --- a/test/gtest_trajectory.cpp +++ b/test/gtest_trajectory.cpp @@ -6,11 +6,11 @@ */ #include "utils_gtest.h" -#include "base/logging.h" +#include "base/utils/logging.h" -#include "base/problem.h" -#include "base/trajectory_base.h" -#include "base/frame_base.h" +#include "base/problem/problem.h" +#include "base/trajectory/trajectory_base.h" +#include "base/frame/frame_base.h" #include <iostream> diff --git a/test/processor_IMU_UnitTester.h b/test/processor_IMU_UnitTester.h index c114086a1..2538981e0 100644 --- a/test/processor_IMU_UnitTester.h +++ b/test/processor_IMU_UnitTester.h @@ -196,8 +196,8 @@ namespace wolf { ///////////////////////////////////////////////////////// // Wolf -#include "base/state_block.h" -#include "base/rotations.h" +#include "base/state_block/state_block.h" +#include "base/math/rotations.h" namespace wolf{ diff --git a/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp b/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp index 8532cc9f2..ae4a43a3b 100644 --- a/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp +++ b/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp @@ -5,7 +5,7 @@ * Author: Jeremie Deray */ -#include "base/wolf.h" +#include "base/common/wolf.h" #include "../../utils_gtest.h" #include "../../../serialization/cereal/serialization_eigen_geometry.h" diff --git a/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp b/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp index 5ca60e7f1..c7f7249a5 100644 --- a/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp +++ b/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp @@ -5,7 +5,7 @@ * Author: Jeremie Deray */ -#include "base/wolf.h" +#include "base/common/wolf.h" #include "../../utils_gtest.h" #include "../../../serialization/cereal/serialization_eigen_sparse.h" diff --git a/wolf_scripts/include_refactor.sh b/wolf_scripts/include_refactor.sh index 6d2c2fd8d..2801608bc 100755 --- a/wolf_scripts/include_refactor.sh +++ b/wolf_scripts/include_refactor.sh @@ -1,17 +1,36 @@ #!/bin/bash -for ff in $(find ~/workspace/wip/wolf/templinks/ -follow | cut -d '/' -f 8- | grep ".h$\|.cpp$"); do - for f in $(cat ~/workspace/wip/wolf/files.txt); do - path=$(ag -g /$f$ -l ~/workspace/wip/wolf/ | cut -d '/' -f 8-) - matches=$(echo $path | wc -w) - if [ $matches -gt 1 ]; then - # echo $f " -> " $path - path=$(echo $path | cut -d ' ' -f 1) - fi - # echo $f " now in -> " $path " modifying file "$ff - # sed -i -E "s:(#include[[:space:]]+)."$f".:\1\""$path"\":gp" ~/workspace/wip/wolf/$ff - sed -i -E "s:(#include[[:space:]]+).(\.\.\/)+(.+\/)+"$f".:\1\""$path"\":g" ~/workspace/wip/wolf/$ff +for folder in problem hardware trajectory map frame state_block common math utils; do + for ff in $(find include/base/$folder src/$folder -type f); do + name=$(echo $ff | rev | cut -d '/' -f 1 | rev) + old="base/$name" + new="base/$folder/$name" + # echo "%%%%%%%%% "$ff " ¬¬ $name" + # echo "$old ºº $new" + # for target in $(find include/base src test -type f); do + for target in $(find hello_wolf -type f); do + # out=$(sed -E -n "s:$old:$new:gp" $target) + out=$(sed -i -E "s:$old:$new:g" $target) + if [[ $out ]]; then + echo ">>> changing : $old -> $new @ $target" + echo $out + fi + done done done + +# for ff in $(find ~/workspace/wip/wolf/templinks/ -follow | cut -d '/' -f 8- | grep ".h$\|.cpp$"); do +# for f in $(cat ~/workspace/wip/wolf/files.txt); do +# path=$(ag -g /$f$ -l ~/workspace/wip/wolf/ | cut -d '/' -f 8-) +# matches=$(echo $path | wc -w) +# if [ $matches -gt 1 ]; then +# # echo $f " -> " $path +# path=$(echo $path | cut -d ' ' -f 1) +# fi +# # echo $f " now in -> " $path " modifying file "$ff +# # sed -i -E "s:(#include[[:space:]]+)."$f".:\1\""$path"\":gp" ~/workspace/wip/wolf/$ff +# sed -i -E "s:(#include[[:space:]]+).(\.\.\/)+(.+\/)+"$f".:\1\""$path"\":g" ~/workspace/wip/wolf/$ff +# done +# done # for f in $(cat ~/workspace/wip/wolf/files.txt); do # path=$(ag -g /$f$ -l ~/workspace/wip/wolf/ | cut -d '/' -f 7-) # matches=$(echo $path | wc -w) -- GitLab